com.kuka.roboticsAPI.controllerModel.sunrise
Interface IDynamicTransformationProvider

All Superinterfaces:

ITransformationProvider

All Known Subinterfaces:

ISunriseSensorModuleConfig

public interface IDynamicTransformationProvider
extends ITransformationProvider

A dynamic transformation provider returns a current transformation for a frame. Unlike an ITransformationProvider it is assumed, that the provided transformation will be changed continuously rather than being static. Redundancy parameters may be included.

The Robotics API always assumes the translation part of transformations to be given in [mm].

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Summary

String	getIdentifier() Return the identifier.
AbstractFrame	getReferenceFrame() Get the reference frame.
AbstractFrame	getTargetFrame() Get the target frame.
boolean	isActive() Get the isActive flag.

Methods inherited from interface com.kuka.roboticsAPI.geometricModel.ITransformationProvider

getPoseInformation, getTransformation, getUniqueName, isStatic

Method Detail

isActive

boolean isActive()

Get the isActive flag.

A dynamic transformation provider should return true, when its data is valid. The definition of valid varies depending of the sensor.

Returns:

the isActive flag

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getIdentifier

String getIdentifier()

Return the identifier.

Every dynamic transformation has a unique identifier. If the dynamic transformation is calculated outside the Robotics API (e.g on an external device) this identifier can be used to map the data.

Returns:

the identifier

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getTargetFrame

AbstractFrame getTargetFrame()

Get the target frame.

Returns:

the target frame

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getReferenceFrame

AbstractFrame getReferenceFrame()

Get the reference frame.

Returns:

the reference frame

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.