com.kuka.roboticsAPI.controllerModel.sunrise
Class ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult

Enclosing class:

ExternalForceTorqueCalculator

public static final class ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult
extends Object

Contains the measured and calculated external force and torque values.

Method Summary

List<ExternalForceTorqueCalculator.ExternalForceTorqueValues>	getExternalForceTorque() Gets the list of calculated external force and torque values.
double[]	getMeasuredTorque() Gets the measured (raw) torque values.
int	getNumberOfLoadDataElements() Gets the number of calculated force and torque values for tool load data.
double[]	getVariance() Gets the variance.
String	toString()

Methods inherited from class java.lang.Object

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

Method Detail

getMeasuredTorque

public double[] getMeasuredTorque()

Gets the measured (raw) torque values.

Returns:

the measured torque values

getVariance

public double[] getVariance()

Gets the variance.

Returns:

the variance

getNumberOfLoadDataElements

public int getNumberOfLoadDataElements()

Gets the number of calculated force and torque values for tool load data.

Returns:

the number of external load data elements

getExternalForceTorque

public List<ExternalForceTorqueCalculator.ExternalForceTorqueValues> getExternalForceTorque()

Gets the list of calculated external force and torque values.

Returns:

the list of calculated force and torque values

toString

public String toString()

Overrides:

toString in class Object