com.kuka.roboticsAPI.controllerModel.sunrise
Class ExternalForceTorqueCalculator

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

public class ExternalForceTorqueCalculator
extends Object

The class provides the functionality to get the measured as well as the external force and torque values for user-defined tools.

Nested Class Summary

static class	ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult Contains the measured and calculated external force and torque values.
static class	ExternalForceTorqueCalculator.ExternalForceTorqueValues Contains external force and torque values for the load data of a tool.

Field Summary

static int

CALCULATION_TIMEOUT The timeout in seconds for retrieving the measured and external torque values.

Constructor Summary

ExternalForceTorqueCalculator(ISunriseRequestService requestService, Robot robot)
Creates a new instance of the ExternalForceTorqueCalculator.

ExternalForceTorqueCalculator(SunriseController controller, Robot robot)
Creates a new instance of the ExternalForceTorqueCalculator.

Method Summary

ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult

calculate(AbstractFrame measureFrame, AbstractFrame orientationFrame, LoadData... toolLoadData) Calculated the force and torque values for a list of user-defined tools.

Methods inherited from class java.lang.Object

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

Field Detail

CALCULATION_TIMEOUT

public static final int CALCULATION_TIMEOUT

The timeout in seconds for retrieving the measured and external torque values.

See Also:

Constant Field Values

Constructor Detail

ExternalForceTorqueCalculator

public ExternalForceTorqueCalculator(SunriseController controller,
                                     Robot robot)

Creates a new instance of the ExternalForceTorqueCalculator.

Parameters:

controller - the sunrise controller

robot - the robot device

ExternalForceTorqueCalculator

public ExternalForceTorqueCalculator(ISunriseRequestService requestService,
                                     Robot robot)

Creates a new instance of the ExternalForceTorqueCalculator.

Parameters:

requestService - the sunrise request service

robot - the robot device

Method Detail

calculate

public ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult calculate(AbstractFrame measureFrame,
                                                                                    AbstractFrame orientationFrame,
                                                                                    LoadData... toolLoadData)

Calculated the force and torque values for a list of user-defined tools.

Parameters:

toolLoadData - list of the tools' load data

measureFrame - the frame for the measurement of the force / torque values

orientationFrame - the frame for the orientation of the force / torque values

Returns:

the calculation result