com.kuka.roboticsAPI.conditionModel
Class ForceCondition

java.lang.Object
  com.kuka.roboticsAPI.conditionModel.AbstractCondition
      com.kuka.roboticsAPI.conditionModel.RobotCondition
          com.kuka.roboticsAPI.conditionModel.ForceCondition

All Implemented Interfaces:

ICondition

public class ForceCondition
extends RobotCondition

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

Constructor Summary

ForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a ForceCondition.

Method Summary

static ForceCondition	createNormalForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	createNormalForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	createNormalForceCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	createNormalForceCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	createShearForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	createShearForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	createShearForceCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	createShearForceCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	createSpatialForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	createSpatialForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	createSpatialForceCondition(AbstractFrame measureFrame, double threshold) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	createSpatialForceCondition(AbstractFrame measureFrame, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
EnumSet<CoordinateAxis>	getCoordinateAxes() Gets the Cartesian coordinate axes which define the projection of the applied force 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 force threshold value at which the condition will fire.
double	getTolerance() Gets the tolerance value 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

ForceCondition

public ForceCondition(AbstractFrame measureFrame,
                      EnumSet<CoordinateAxis> coordinateAxes,
                      double threshold)

Creates a new instance of a ForceCondition. The condition is fulfilled every time the magnitude of the projection of the measured force vector to the specified Cartesian component of measureFrame exceeds the force 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 ForceCondition 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 forces (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 force 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 force vector onto this Cartesian axis of measureFrame
• 2 parameters: project the measured force vector onto the plane which is set up by these Cartesian axes of measureFrame
• 3 parameters: use the 3 dimensional measured force vector

Must not be null.

threshold - The force threshold value in [N]. The value has to be nonnegative.

Throws:

IllegalArgumentException - if an invalid argument is given

ForceCondition

public ForceCondition(AbstractFrame measureFrame,
                      EnumSet<CoordinateAxis> coordinateAxes,
                      double threshold,
                      double tolerance)

Creates a new instance of a ForceCondition. The condition is fulfilled every time the magnitude of the projection of the measured force vector to the specified Cartesian component of measureFrame exceeds the force threshold.
Use this constructor 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 forces (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 force 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 force vector onto this Cartesian axis of measureFrame
• 2 parameters: project the measured force vector onto the plane which is set up by these Cartesian axes of measureFrame
• 3 parameters: use the 3 dimensional measured force vector

Must not be null.

threshold - The force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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.

Throws:

IllegalArgumentException - if an invalid argument is given

ForceCondition

public ForceCondition(AbstractFrame measureFrame,
                      AbstractFrame orientationFrame,
                      EnumSet<CoordinateAxis> coordinateAxes,
                      double threshold)

Creates a new instance of a ForceCondition. The condition is fulfilled every time the magnitude of the projection of the measured force vector to the specified Cartesian component of orientationFrame exceeds the force 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 ForceCondition 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force 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 force vector onto this Cartesian axis of orientationFrame
• 2 parameters: project the measured force vector onto the plane which is set up by these Cartesian axes of orientationFrame
• 3 parameters: use the 3 dimensional measured force vector

Must not be null.

threshold - The force threshold value in [N]. The value has to be nonnegative.

Throws:

IllegalArgumentException - if an invalid argument is given

ForceCondition

public ForceCondition(AbstractFrame measureFrame,
                      AbstractFrame orientationFrame,
                      EnumSet<CoordinateAxis> coordinateAxes,
                      double threshold,
                      double tolerance)

Creates a new instance of a ForceCondition. The condition is fulfilled every time the magnitude of the projection of the measured force vector to the specified Cartesian component of orientationFrame exceeds the force threshold.
Use this constructor 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force 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 force vector onto this Cartesian axis of orientationFrame
• 2 parameters: project the measured force vector onto the plane which is set up by these Cartesian axes of orientationFrame
• 3 parameters: use the 3 dimensional measured force vector

Must not be null.

threshold - The force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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.

Throws:

IllegalArgumentException - if an invalid argument is given

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 forces (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 which is used as an estimator for the maximum allowed measurement inaccuracy.

Returns:

The tolerance value.

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 force vector that will be considered when evaluating the condition. The projection depends on which and how many parameters are included in this EnumSet:

• 1 parameter: project the measured force vector onto this Cartesian axis of orientationFrame
• 2 parameters: project the measured force vector onto the plane which is set up by these Cartesian axes of orientationFrame
• 3 parameters: use the 3 dimensional measured force vector

Returns:

The Cartesian coordinate axes of this condition.

getThreshold

public double getThreshold()

Gets the force threshold value at which the condition will fire.

Returns:

The threshold value of this condition in [N]. Value is non-negative.

createSpatialForceCondition

public static ForceCondition createSpatialForceCondition(AbstractFrame measureFrame,
                                                         double threshold)

Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force 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 ForceCondition 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 forces (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

threshold - The force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createSpatialForceCondition

public static ForceCondition createSpatialForceCondition(AbstractFrame measureFrame,
                                                         double threshold,
                                                         double tolerance)

Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force 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 forces (such as an LBR).
If measureFrame is set to null, the frame that is currently moved is used.

threshold - The force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createSpatialForceCondition

public static ForceCondition createSpatialForceCondition(AbstractFrame measureFrame,
                                                         AbstractFrame orientationFrame,
                                                         double threshold)

Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force 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 ForceCondition 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createSpatialForceCondition

public static ForceCondition createSpatialForceCondition(AbstractFrame measureFrame,
                                                         AbstractFrame orientationFrame,
                                                         double threshold,
                                                         double tolerance)

Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createShearForceCondition

public static ForceCondition createShearForceCondition(AbstractFrame measureFrame,
                                                       CoordinateAxis normalDirection,
                                                       double threshold)

Creates a new ForceCondition that checks the magnitude of the projection of the measured force 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 ForceCondition 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 forces (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 force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createShearForceCondition

public static ForceCondition createShearForceCondition(AbstractFrame measureFrame,
                                                       CoordinateAxis normalDirection,
                                                       double threshold,
                                                       double tolerance)

Creates a new ForceCondition that checks the magnitude of the projection of the measured force 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 forces (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 force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createShearForceCondition

public static ForceCondition createShearForceCondition(AbstractFrame measureFrame,
                                                       AbstractFrame orientationFrame,
                                                       CoordinateAxis normalDirection,
                                                       double threshold)

Creates a new ForceCondition that checks the magnitude of the projection of the measured force 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 ForceCondition 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

createShearForceCondition

public static ForceCondition createShearForceCondition(AbstractFrame measureFrame,
                                                       AbstractFrame orientationFrame,
                                                       CoordinateAxis normalDirection,
                                                       double threshold,
                                                       double tolerance)

Creates a new ForceCondition that checks the magnitude of the projection of the measured force 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createNormalForceCondition

public static ForceCondition createNormalForceCondition(AbstractFrame measureFrame,
                                                        CoordinateAxis direction,
                                                        double threshold)

Creates a new ForceCondition that checks the magnitude of the measured force 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 ForceCondition 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 forces (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 force vector is projected.

threshold - The force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createNormalForceCondition

public static ForceCondition createNormalForceCondition(AbstractFrame measureFrame,
                                                        CoordinateAxis direction,
                                                        double threshold,
                                                        double tolerance)

Creates a new ForceCondition that checks the magnitude of the measured force 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 forces (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 force vector is projected.

threshold - The force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createNormalForceCondition

public static ForceCondition createNormalForceCondition(AbstractFrame measureFrame,
                                                        AbstractFrame orientationFrame,
                                                        CoordinateAxis direction,
                                                        double threshold)

Creates a new ForceCondition that checks the magnitude of the measured force 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 ForceCondition 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 BasicConditions#DEFAULT_FORCE_TOLERANCE measurement inaccuracy}. The quality of the measurement depends on the current robot pose, and declines near singularities. The ForceCondition is fulfilled every time the measurement inaccuracy is equal or greater than the specified tolerance.

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 force vector is projected.

threshold - The force threshold value in [N]. The value has to be nonnegative.

Returns:

the new ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

createNormalForceCondition

public static ForceCondition createNormalForceCondition(AbstractFrame measureFrame,
                                                        AbstractFrame orientationFrame,
                                                        CoordinateAxis direction,
                                                        double threshold,
                                                        double tolerance)

Creates a new ForceCondition that checks the magnitude of the measured force 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 forces (such as an LBR). If an orientationFrame is given, the orientation of measureFrame will be ignored.
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 force vector is projected. Must not be null.

threshold - The force threshold value in [N]. The value has to be nonnegative.

tolerance - Tolerance is used as an estimator for maximum allowed measurement inaccuracy. The quality of the measurement depends on the current robot pose, and declines near singularities.
The force condition 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 ForceCondition

Throws:

IllegalArgumentException - if an invalid argument is given

toString

public String toString()

Overrides:

toString in class Object