com.kuka.roboticsAPI.controllerModel.sunrise.requests
Class SunriseCurrentForceRequest

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.requests.SunriseCurrentForceRequest

public final class SunriseCurrentForceRequest
extends Object

Sunrise mapping of the 'GetCurrentForce' request.

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

static ForceSensorData

getCurrentForce(ISunriseRequestService reqService, SensorForExternalForce sensor, AbstractFrame measureFrame, AbstractFrame orientationFrame) Requests the current force measurement from the given force sensor, measured at the given frame.

Methods inherited from class java.lang.Object

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

Method Detail

getCurrentForce

public static ForceSensorData getCurrentForce(ISunriseRequestService reqService,
                                              SensorForExternalForce sensor,
                                              AbstractFrame measureFrame,
                                              AbstractFrame orientationFrame)

Requests the current force measurement from the given force sensor, measured at the given frame.

Parameters:

reqService - the Sunrise request service

sensor - the force sensor to be queried

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device that can measure forces (such as an LBR). If an orientationFrame is given, the orientation of the frame is not important.

orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. May be any frame for which a path from the measureFrame can be calculated at runtime; for example a frame connected to World. The location of the frame in space is not important. If null, the orientation will be that of the measureFrame.

Returns:

the measured 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.