com.kuka.geometry.connections
Class QueryType

java.lang.Object
  com.kuka.geometry.connections.QueryType

public class QueryType
extends Object

Specifies the type of sensor value that should be used in calculations with frames having a IQueryConnection to their parent frame. The most common example is to select whether the TCP frame position of a robot should reflect the measured position (i.e. what the robot's position sensors measure) or the interpolated trajectory position that was being planned at the given moment.

The query type will be evaluated by the ITrafoQueryProcessor that handles the respective frame's IQueryConnection.

Implementation notes:

• The ITrafoQueryProcessor implementation should be able to handle the predefined values MEASURED and COMMANDED. If no distinction between those types can be made, the implementation should treat them equally.
• An ITrafoQueryProcessor implementation can choose to support other query types. Use the default constructor QueryType() to create a new instance identifying the new query type.

Field Summary

static QueryType	COMMANDED A commanded value is a theoretical value.
static QueryType	MEASURED A measured sensor value is usually the value that comes closest to the actual physical value.

Constructor Summary

QueryType()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

MEASURED

public static final QueryType MEASURED

A measured sensor value is usually the value that comes closest to the actual physical value. For a robot such as the LBR iiwa, the measured position can be used to find out where exactly the robot made contact to another structure.

COMMANDED

public static final QueryType COMMANDED

A commanded value is a theoretical value. Its meaning is dependent of the type of sensor. For a robot such as the LBR iiwa, the commanded position can be deep inside other structures, especially if the robot is moved with impedance control mode. Use this query type if you want to save a robot position for later repetition of the pose.

Constructor Detail

QueryType

public QueryType()