com.kuka.roboticsAPI.controllerModel.sunrise
Class TorqueStatisticCommand

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

All Implemented Interfaces:

IControllerCommand

public class TorqueStatisticCommand
extends Object
implements IControllerCommand

Command dealing with torque statistic data.

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.

Constructor Summary

TorqueStatisticCommand(LBR lbr, boolean isTorqueMeasured)
Constructor for statistic command.

Method Summary

void	acquireResources(ICommandContainer container) Asks the command to acquire it's resources that are needed for execution.
void	createStatisticData() Creates the internal object for holding statistic data.
Controller	getController() Gets the controller to which the command is targeted.
LBR	getLBR() Gets the corresponding LBR this command is aimed to.
ICommandRuntimeData	getRuntimeData() Gets the runtime data object associated with the command.
SerializableDoubleArray	getStatisticData() Gets the array with statistic data returned by SPR.
SPR	getStatisticSPR() Gets the statistic SPR.
boolean	isTorqueMeasured() Indicates if the torque is measured.
void	releaseResources(ICommandContainer container) Tells the command to release it's resources.
void	setStatisticSPR(SPR spr) Sets the statistic SPR.

Methods inherited from class java.lang.Object

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

Constructor Detail

TorqueStatisticCommand

public TorqueStatisticCommand(LBR lbr,
                              boolean isTorqueMeasured)

Constructor for statistic command.

Parameters:

lbr - the corresponding LBR.

isTorqueMeasured - indicates if the torque are GMS data.

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 Detail

getController

public final Controller getController()

Gets the controller to which the command is targeted.

Specified by:

getController in interface IControllerCommand

Returns:

The controller to which the command is targeted. null is not allowed!

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.

getLBR

public final LBR getLBR()

Gets the corresponding LBR this command is aimed to.

Returns:

The LBR.

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.

isTorqueMeasured

public boolean isTorqueMeasured()

Indicates if the torque is measured.

Returns:

True if the torques is measured; otherwise false.

setStatisticSPR

public void setStatisticSPR(SPR spr)

Sets the statistic SPR.

Parameters:

spr - the statistic SPR.

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.

getStatisticSPR

public SPR getStatisticSPR()

Gets the statistic SPR.

Returns:

The statistic SPR.

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.

createStatisticData

public void createStatisticData()

Creates the internal object for holding statistic data.

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.

getStatisticData

public SerializableDoubleArray getStatisticData()

Gets the array with statistic data returned by SPR.

Returns:

Statistic data.

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.

getRuntimeData

public ICommandRuntimeData getRuntimeData()

Gets the runtime data object associated with the command.

Specified by:

getRuntimeData in interface IControllerCommand

Returns:

the runtime data associated with the command. Can be null.

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.

acquireResources

public void acquireResources(ICommandContainer container)

Asks the command to acquire it's resources that are needed for execution.

This method can block until the resources are available. The method is called before the command is passed to the controller. Implementing classes should throw an exception if preparation fails.

Specified by:

acquireResources in interface IControllerCommand

Parameters:

container - The container which will be used for the execution of the command.

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.

releaseResources

public void releaseResources(ICommandContainer container)

Tells the command to release it's resources.

Specified by:

releaseResources in interface IControllerCommand

Parameters:

container - The container which was used for the execution of the command.

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.