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

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

Enclosing class:

ExternalForceTorqueCalculator

public static final class ExternalForceTorqueCalculator.ExternalForceTorqueValues
extends Object

Contains external force and torque values for the load data of a tool.

Method Summary

ForceSensorData	getCartesianForceTorque() Gets the calculated cartesian force and torque values.
double[]	getExternalTorque() Gets the calculated external torque values.
String	toString()

Methods inherited from class java.lang.Object

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

Method Detail

getExternalTorque

public double[] getExternalTorque()

Gets the calculated external torque values.

Returns:

list of external torque values

getCartesianForceTorque

public ForceSensorData getCartesianForceTorque()

Gets the calculated cartesian force and torque values.

Returns:

the cartesian force and torque values

toString

public String toString()

Overrides:

toString in class Object