com.kuka.roboticsAPI.conditionModel
Class JointTorqueCondition

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

All Implemented Interfaces:

ICondition

public class JointTorqueCondition
extends RobotCondition

Joint Torque Condition describing the valid joint range of a robot.

The Condition fires if the current external torque of the joint is less or equal to the minimum or higher or equal to the maximum condition torque value.

Constructor Summary

JointTorqueCondition(com.kuka.roboticsAPI.deviceModel.JointEnum joint, double minTorque, double maxTorque)
Creates a new Instance of a JointTorqueCondition.

JointTorqueCondition(Robot robot, com.kuka.roboticsAPI.deviceModel.JointEnum joint, double minTorque, double maxTorque)
Creates a new Instance of a JointTorqueCondition.

Method Summary

com.kuka.roboticsAPI.deviceModel.JointEnum	getJoint() Gets the joint of this condition.
double	getMaxTorque() Gets the maximum torque value at which the condition will fire.
double	getMinTorque() Gets the minimum torque value at which the condition will fire.
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

JointTorqueCondition

public JointTorqueCondition(com.kuka.roboticsAPI.deviceModel.JointEnum joint,
                            double minTorque,
                            double maxTorque)

Creates a new Instance of a JointTorqueCondition. The Condition fires if the current external torque of the joint is less or equal to the minimum or higher or equal to the maximum condition torque value.

Parameters:

joint - The joint of the robot. Must not be null.

minTorque - The minimum torque value in [Nm].

maxTorque - The maximum torque value in [Nm].

Throws:

IllegalArgumentException - if an invalid argument is given

JointTorqueCondition

public JointTorqueCondition(Robot robot,
                            com.kuka.roboticsAPI.deviceModel.JointEnum joint,
                            double minTorque,
                            double maxTorque)

Creates a new Instance of a JointTorqueCondition.

The Condition fires if the current external torque of the joint is less or equal to the minimum or higher or equal to the maximum condition torque value.

Parameters:

robot - The robot. Must not be null.

joint - The joint of the robot. Must not be null.

minTorque - The minimum torque value in [Nm].

maxTorque - The maximum torque value in [Nm].

Throws:

IllegalArgumentException - if an invalid argument is given

Method Detail

getJoint

public com.kuka.roboticsAPI.deviceModel.JointEnum getJoint()

Gets the joint of this condition.

Returns:

The joint of this condition.

getMinTorque

public double getMinTorque()

Gets the minimum torque value at which the condition will fire.

Returns:

The torque in [Nm].

getMaxTorque

public double getMaxTorque()

Gets the maximum torque value at which the condition will fire.

Returns:

The torque in [Nm].

toString

public String toString()

Overrides:

toString in class Object