Overview  Package   Class  Use  Tree  Deprecated  Index  Help 
 PREV CLASS   NEXT CLASS FRAMES    NO FRAMES    
SUMMARY: NESTED | FIELD | CONSTR | METHOD DETAIL: FIELD | CONSTR | METHOD

com.kuka.roboticsAPI.conditionModel
Class CartesianTorqueCondition

java.lang.Object
  extended by com.kuka.roboticsAPI.conditionModel.AbstractCondition
      extended by com.kuka.roboticsAPI.conditionModel.RobotCondition
          extended by com.kuka.roboticsAPI.conditionModel.CartesianTorqueCondition
All Implemented Interfaces:
ICondition
public class CartesianTorqueCondition
extends RobotCondition

CartesianTorqueCondition is used to check the Cartesian torque vector at any arbitrary position relative to the robot flange. The orientation of the coordinate system for the measurement can be chosen freely.
The condition is fulfilled every time the magnitude of the projection of the measured torque vector to the specified Cartesian component exceeds the torque threshold.

Constructor Summary
CartesianTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
          Creates a new instance of a CartesianTorqueCondition.
CartesianTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
          Creates a new instance of a CartesianTorqueCondition.
CartesianTorqueCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
          Creates a new instance of a CartesianTorqueCondition.
CartesianTorqueCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
          Creates a new instance of a CartesianTorqueCondition.
 
Method Summary
static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold)
          Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold, double tolerance)
          Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
 EnumSet<CoordinateAxis> getCoordinateAxes()
          Gets the Cartesian coordinate axes which define the projection of the applied torque vector that will be considered when evaluating the condition.
 AbstractFrame getMeasureFrame()
          Gets the frame where the measurement will take place.
 AbstractFrame getOrientationFrame()
          Gets the frame that specifies the orientation of the coordinate axes used in this condition.
 double getThreshold()
          Gets the torque threshold value at which the condition will fire.
 double getTolerance()
          Gets the tolerance value (in [Nm]) which is used as an estimator for the maximum allowed measurement inaccuracy.
 String toString()
           
 
Methods inherited from class com.kuka.roboticsAPI.conditionModel.RobotCondition
getController, getRobot, setRobot
 
Methods inherited from class com.kuka.roboticsAPI.conditionModel.AbstractCondition
and, invert, or, xor
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

CartesianTorqueCondition

public CartesianTorqueCondition(AbstractFrame measureFrame,
                                EnumSet<CoordinateAxis> coordinateAxes,
                                double threshold)
Creates a new instance of a CartesianTorqueCondition. The condition is fulfilled every time the magnitude of the projection of the measured torque vector to the specified Cartesian component of measureFrame exceeds the torque threshold.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. At motion execution, this frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
coordinateAxes - Specifies the projection of the applied torque vector that will be considered when evaluating the condition. This depends on which and how many parameters are included in this EnumSet:
  • 1 parameter: project the measured torque vector onto this Cartesian axis of measureFrame
  • 2 parameters: project the measured torque vector onto the plane which is set up by these Cartesian axes of measureFrame
  • 3 parameters: use the 3 dimensional measured torque vector
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.

CartesianTorqueCondition

public CartesianTorqueCondition(AbstractFrame measureFrame,
                                EnumSet<CoordinateAxis> coordinateAxes,
                                double threshold,
                                double tolerance)
Creates a new instance of a CartesianTorqueCondition. The condition is fulfilled every time the magnitude of the projection of the measured torque vector to the specified Cartesian component of measureFrame exceeds the torque threshold.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
coordinateAxes - Specifies the projection of the applied torque vector that will be considered when evaluating the condition. This depends on which and how many parameters are included in this EnumSet:
  • 1 parameter: project the measured torque vector onto this Cartesian axis of measureFrame
  • 2 parameters: project the measured torque vector onto the plane which is set up by these Cartesian axes of measureFrame
  • 3 parameters: use the 3 dimensional measured torque vector
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.

CartesianTorqueCondition

public CartesianTorqueCondition(AbstractFrame measureFrame,
                                AbstractFrame orientationFrame,
                                EnumSet<CoordinateAxis> coordinateAxes,
                                double threshold)
Creates a new instance of a CartesianTorqueCondition. The condition is fulfilled every time the magnitude of the projection of the measured torque vector to the specified Cartesian component of measureFrame exceeds the torque threshold.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
coordinateAxes - Specifies the projection of the applied torque vector that will be considered when evaluating the condition. This depends on which and how many parameters are included in this EnumSet:
  • 1 parameter: project the measured torque vector onto this Cartesian axis of measureFrame
  • 2 parameters: project the measured torque vector onto the plane which is set up by these Cartesian axes of measureFrame
  • 3 parameters: use the 3 dimensional measured torque vector
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.

CartesianTorqueCondition

public CartesianTorqueCondition(AbstractFrame measureFrame,
                                AbstractFrame orientationFrame,
                                EnumSet<CoordinateAxis> coordinateAxes,
                                double threshold,
                                double tolerance)
Creates a new instance of a CartesianTorqueCondition. The condition is fulfilled every time the magnitude of the projection of the measured torque vector to the specified Cartesian component of measureFrame exceeds the torque threshold.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
coordinateAxes - Specifies the projection of the applied torque vector that will be considered when evaluating the condition. This depends on which and how many parameters are included in this EnumSet:
  • 1 parameter: project the measured torque vector onto this Cartesian axis of measureFrame
  • 2 parameters: project the measured torque vector onto the plane which is set up by these Cartesian axes of measureFrame
  • 3 parameters: use the 3 dimensional measured torque vector
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Method Detail

getMeasureFrame

public AbstractFrame getMeasureFrame()
Gets the frame where the measurement will take place. This frame is statically attached to a device which can measure torque (such as an LBR). If an orientationFrame is given, the orientation of this frame will be ignored.
Can be null if the frame that is currently moved is used.

Returns:
The measurement frame.

getTolerance

public double getTolerance()
Gets the tolerance value (in [Nm]) which is used as an estimator for the maximum allowed measurement inaccuracy.

Returns:
The tolerance value in [Nm].

getOrientationFrame

public AbstractFrame getOrientationFrame()
Gets the frame that specifies the orientation of the coordinate axes used in this condition. If null, the orientation of the measurement frame is used.

Returns:
The orientation frame.

getCoordinateAxes

public EnumSet<CoordinateAxis> getCoordinateAxes()
Gets the Cartesian coordinate axes which define the projection of the applied torque vector that will be considered when evaluating the condition. The projection depends on which and how many parameters are included in this EnumSet:

Returns:
The Cartesian coordinate axes of this condition.

getThreshold

public double getThreshold()
Gets the torque threshold value at which the condition will fire.

Returns:
The threshold value of this condition in [Nm]. Value is non-negative.

createSpatialTorqueCondition

public static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createSpatialTorqueCondition

public static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector. Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

createSpatialTorqueCondition

public static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createSpatialTorqueCondition

public static CartesianTorqueCondition createSpatialTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector. Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

createTiltingTorqueCondition

public static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame,
                                                                    CoordinateAxis normalDirection,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane. To specify the plane, the vector that is orthogonal to the plane must be given as a parameter (normalDirection).

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
normalDirection - The Cartesian coordinate axis that is orthogonal to the plane.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createTiltingTorqueCondition

public static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame,
                                                                    CoordinateAxis normalDirection,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane. To specify the plane, the vector that is orthogonal to the plane must be given as a parameter (normalDirection).
Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
normalDirection - The Cartesian coordinate axis that is orthogonal to the plane.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

createTiltingTorqueCondition

public static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    CoordinateAxis normalDirection,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane. To specify the plane, the vector that is orthogonal to the plane must be given as a parameter (normalDirection).

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
normalDirection - The Cartesian coordinate axis that is orthogonal to the plane.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createTiltingTorqueCondition

public static CartesianTorqueCondition createTiltingTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    CoordinateAxis normalDirection,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane. To specify the plane, the vector that is orthogonal to the plane must be given as a parameter (normalDirection).
Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
normalDirection - The Cartesian coordinate axis that is orthogonal to the plane.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

createTurningTorqueCondition

public static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame,
                                                                    CoordinateAxis direction,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
direction - The Cartesian coordinate axis onto which the measured torque vector is projected.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createTurningTorqueCondition

public static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame,
                                                                    CoordinateAxis direction,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
direction - The Cartesian coordinate axis onto which the measured torque vector is projected.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

createTurningTorqueCondition

public static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    CoordinateAxis direction,
                                                                    double threshold)
Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).

This condition has a default value for measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities. The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
direction - The Cartesian coordinate axis onto which the measured torque vector is projected.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
Returns:
the new CartesianTorqueCondition

createTurningTorqueCondition

public static CartesianTorqueCondition createTurningTorqueCondition(AbstractFrame measureFrame,
                                                                    AbstractFrame orientationFrame,
                                                                    CoordinateAxis direction,
                                                                    double threshold,
                                                                    double tolerance)
Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
Use this method if a tolerance other than the default value (= 10) is required.

Parameters:
measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device which can measure torque (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.
orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. Must be a frame that has a static transformation to World. If orientationFrame is set to null, the orientation of measureFrame is used.
direction - The Cartesian coordinate axis onto which the measured torque vector is projected.
threshold - The torque threshold value in [Nm]. The value has to be nonnegative.
tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy (in [Nm]). The quality of the measurement depends on the current robot pose, and declines near singularities.
The CartesianTorqueCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.
Only positive values should be used. A common value is 10.
Returns:
the new CartesianTorqueCondition

toString

public String toString()
Overrides:
toString in class Object
Overview  Package   Class  Use  Tree  Deprecated  Index  Help 
 PREV CLASS   NEXT CLASS FRAMES    NO FRAMES    
SUMMARY: NESTED | FIELD | CONSTR | METHOD DETAIL: FIELD | CONSTR | METHOD
Copyright © 2019. All rights reserved.