com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Class ForceMappingInformation

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.mapping.ForceMappingInformation

public final class ForceMappingInformation
extends Object

Helper class that provides information about force and variance DFEs in a SPR.

Constructor Summary

ForceMappingInformation(int id, SPR spr, Robot robot, RobotObserver observer)
Initializes the helper class.

Method Summary

void	addTwistWrenchTrafo(AbstractFrame measureFrame, AbstractFrame orientationFrame) Adds the TwistWrenchTrafo module to the SPR.
OutPort	getForcePort() Returns the force DFE.
OutPort	getVariancePort() Returns the variance DFE.

Methods inherited from class java.lang.Object

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

Constructor Detail

ForceMappingInformation

public ForceMappingInformation(int id,
                               SPR spr,
                               Robot robot,
                               RobotObserver observer)

Initializes the helper class.

Parameters:

id - an ID that will be appended to the names in the frame graph. If used multiple times for one SPR this id has to be unique for each call.

spr - the spr to modify

robot - the robot used for the measurement

observer - the robot's observer

Method Detail

getForcePort

public OutPort getForcePort()

Returns the force DFE. Order:{X,Y,Z,A,B,C,?}

Returns:

the force DFE

getVariancePort

public OutPort getVariancePort()

Returns the variance DFE. Variance (Force/Torque) value order:{X,Y,Z,A,B,C,?}

Returns:

the variance DFE

addTwistWrenchTrafo

public void addTwistWrenchTrafo(AbstractFrame measureFrame,
                                AbstractFrame orientationFrame)

Adds the TwistWrenchTrafo module to the SPR. The port IDs as reported by #getForcePortID() and #getVariancePortID() will be changed accordingly.

The transformation fed in to the module will be computed such that:

• the translation will be the static translation from the robot flange to the origin of measureFrame;
• the rotation will be the (possibly dynamic) rotation that rotates from the robot flange orientation to the orientation of orientationFrame.

Parameters:

measureFrame - the measure frame

orientationFrame - the orientation frame; may be identical to measureFrame