com.kuka.math.physics
Class LoadData

java.lang.Object
  com.kuka.math.physics.LoadData

public class LoadData
extends Object

LoadData represents the physical load of a .

Because objects can be connected to each other, a combined load can be calculated using the helper methods of the SpatialObjectUtils class.

Note that LoadData is mutable while the contained CenterOfMass and Inertia are immutable.

The Robotics API always assumes the translation part of transformations to be given in [mm].

Constructor Summary

LoadData()
Creates a new instance with zero inertia and mass.

LoadData(double mass, ITransformation centerOfMass, Inertia inertia)
Creates a new instance.

Method Summary

boolean	equals(Object obj)
void	fill(LoadData newData) Fills the load data object with the data of another load data object.
Transformation	getCenterOfMass() Gets the center of mass.
Inertia	getInertia() Gets the inertia.
double	getMass() Gets the mass in [kg].
int	hashCode()
void	setCenterOfMass(double x, double y, double z) Sets the center of mass for this object.
void	setCenterOfMass(ITransformation centerOfMassMillimeter) Sets the center of mass for this object.
void	setInertia(Inertia loadInertia) Sets the load inertia for this object.
void	setMass(double mass) Sets the mass in [kg].
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

LoadData

public LoadData()

Creates a new instance with zero inertia and mass.

LoadData

public LoadData(double mass,
                ITransformation centerOfMass,
                Inertia inertia)

Creates a new instance.

Parameters:

mass - the mass of the physical object in [kg].

centerOfMass - center of mass transformation from the base in [mm].

inertia - the inertia of the physical object.

Method Detail

getMass

public double getMass()

Gets the mass in [kg].

Returns:

the mass in [kg].

getCenterOfMass

public Transformation getCenterOfMass()

Gets the center of mass.

Returns:

the center of mass.

getInertia

public Inertia getInertia()

Gets the inertia.

Returns:

the inertia.

setMass

public final void setMass(double mass)

Sets the mass in [kg].

Parameters:

mass - the mass in [kg].

Throws:

IllegalArgumentException - if mass is negative

setCenterOfMass

public final void setCenterOfMass(ITransformation centerOfMassMillimeter)

Sets the center of mass for this object. Values have to be in [mm] for translation and [radian] for rotation.

The center of mass must be given relative to the object base.

Parameters:

centerOfMassMillimeter - the center of mass for this object.

setCenterOfMass

public final void setCenterOfMass(double x,
                                  double y,
                                  double z)

Sets the center of mass for this object.

The center of mass must be given relative to the object base.

Parameters:

x - the x center value in [mm].

y - the y center value in [mm].

z - the z center value in [mm].

setInertia

public final void setInertia(Inertia loadInertia)

Sets the load inertia for this object.

Parameters:

loadInertia - the load inertia for this object.

fill

public void fill(LoadData newData)

Fills the load data object with the data of another load data object.

Parameters:

newData - the source load data.

toString

public String toString()

Overrides:

toString in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object