com.kuka.roboticsAPI.deviceModel
Class LBRAlphaRedundancy

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.redundancy.AbstractRedundancyCollection<StatusTurnRedundancy>
      com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy
          com.kuka.roboticsAPI.deviceModel.LBRAlphaRedundancy

All Implemented Interfaces:

IRedundancyCollection

public class LBRAlphaRedundancy
extends StatusTurnRedundancy

LBRAlphaRedundancy represents the redundancy parameters of a KUKA lightweight robot (LWR). (Using the alpha-kinematics definition)

!Attention: The definition of the status information is different for alpha- and e1-kinematics!

This element is not in its final state and might change in future versions.

Nested Class Summary

static class

LBRAlphaRedundancy.AlphaParameter Alpha redundancy parameter.

Nested classes/interfaces inherited from class com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy

StatusTurnRedundancy.StatusParameter, StatusTurnRedundancy.TurnParameter

Constructor Summary

LBRAlphaRedundancy()
Creates an instance of the class.

LBRAlphaRedundancy(double alpha, int status, int turn)
Creates a new LBRRedundancy instance with the given parameters.

LBRAlphaRedundancy(com.kuka.common.params.IParameterSet params)
Creates an instance of the class initialized from the specified parameter set.

Method Summary

LBRAlphaRedundancy	copy() Creates and returns a deep copy of this redundancy collection.
double	getAlpha() Gets the alpha-redundancy-value.
LBRAlphaRedundancy	setAlpha(double alpha) Sets the alpha-redundancy-value.

Methods inherited from class com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy

getStatus, getTurn, setStatus, setTurn

Methods inherited from class com.kuka.roboticsAPI.geometricModel.redundancy.AbstractRedundancyCollection

addParameter, equals, getAllParameters, hashCode, self, toString

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

LBRAlphaRedundancy

public LBRAlphaRedundancy()

Creates an instance of the class.

This element is not in its final state and might change in future versions.

LBRAlphaRedundancy

public LBRAlphaRedundancy(double alpha,
                          int status,
                          int turn)

Creates a new LBRRedundancy instance with the given parameters.

Parameters:

alpha - Alpha

status - Status

turn - Turn

This element is not in its final state and might change in future versions.

LBRAlphaRedundancy

public LBRAlphaRedundancy(com.kuka.common.params.IParameterSet params)

Creates an instance of the class initialized from the specified parameter set.

Parameters:

params - parameter set with the initial values.

This element is not in its final state and might change in future versions.

Method Detail

getAlpha

public double getAlpha()

Gets the alpha-redundancy-value.

Returns:

The alpha-redundancy value.

This element is not in its final state and might change in future versions.

setAlpha

public LBRAlphaRedundancy setAlpha(double alpha)

Sets the alpha-redundancy-value.

Parameters:

alpha - The alpha-redundancy value.

Returns:

this object

This element is not in its final state and might change in future versions.

copy

public LBRAlphaRedundancy copy()

Description copied from interface: IRedundancyCollection

Creates and returns a deep copy of this redundancy collection.

Specified by:

copy in interface IRedundancyCollection

Overrides:

copy in class StatusTurnRedundancy

Returns:

a deep copy of this redundancy collection.