com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseLBRBaseFlangeTrafoProvider

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

All Implemented Interfaces:

ITransformationProvider

public class SunriseLBRBaseFlangeTrafoProvider
extends Object
implements ITransformationProvider

The robot-base-to-flange transformation provider for a SunriseLBR instance.

Constructor Summary

SunriseLBRBaseFlangeTrafoProvider(SunriseLBR robot)
Constructor.

Method Summary

PoseInformation	getPoseInformation() Returns information about the current pose.
ITransformation	getTransformation() Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.
String	getUniqueName() Gets the unique name of the transformation provider.
boolean	isStatic() Returns true if the the transformation for the defined frame is static.

Methods inherited from class java.lang.Object

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

Constructor Detail

SunriseLBRBaseFlangeTrafoProvider

public SunriseLBRBaseFlangeTrafoProvider(SunriseLBR robot)

Constructor.

Parameters:

robot - The robot this transformation provider is dedicated to.

Method Detail

isStatic

public boolean isStatic()

Description copied from interface: ITransformationProvider

Returns true if the the transformation for the defined frame is static.

Specified by:

isStatic in interface ITransformationProvider

Returns:

true, if the transformation is static, else false.

getTransformation

public final ITransformation getTransformation()

Description copied from interface: ITransformationProvider

Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.

Specified by:

getTransformation in interface ITransformationProvider

Returns:

The current transformation for the frame.

getUniqueName

public String getUniqueName()

Description copied from interface: ITransformationProvider

Gets the unique name of the transformation provider.

Specified by:

getUniqueName in interface ITransformationProvider

Returns:

the unique name of the transformation provider.

getPoseInformation

public PoseInformation getPoseInformation()

Description copied from interface: ITransformationProvider

Returns information about the current pose. All information is obtained at the same time.

Specified by:

getPoseInformation in interface ITransformationProvider

Returns:

The information about the current pose.