com.kuka.roboticsAPI.deviceModel
Class LBRE1Redundancy

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.redundancy.AbstractRedundancyCollection<StatusTurnRedundancy>
      com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy
          com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy

All Implemented Interfaces:

IRedundancyCollection

public class LBRE1Redundancy
extends StatusTurnRedundancy

LBRE1Redundancy represents the redundancy parameters of a KUKA lightweight robot (LWR). (Using the E1-kinematics definition)

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

This is a data object for storing redundancy information for LWR-Robot. It is possible to set any combination of parameters (status, turn, E1). It is possible to create the empty instance of the class using the default constructor LBRE1Redundancy() and then use "builder pattern" to set the necessary parameters.

Nested Class Summary

static class

LBRE1Redundancy.E1Parameter E1-redundancy parameter.

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

StatusTurnRedundancy.StatusParameter, StatusTurnRedundancy.TurnParameter

Constructor Summary

LBRE1Redundancy()
Creates an instance of the class.

LBRE1Redundancy(double e1, int status, int turn)
Creates a new instance of this class with the given parameters.

LBRE1Redundancy(com.kuka.common.params.IParameterSet params)
Creates an instance of the class initialized from the specified parameter set.

Method Summary

LBRE1Redundancy	copy() Creates and returns a deep copy of this redundancy collection.
double	getE1() Gets the E1-redundancy value.
LBRE1Redundancy	setE1(double e1) Sets the E1-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

LBRE1Redundancy

public LBRE1Redundancy()

Creates an instance of the class.

LBRE1Redundancy

public LBRE1Redundancy(double e1,
                       int status,
                       int turn)

Creates a new instance of this class with the given parameters.

Parameters:

e1 - The E1-redundancy value in radians.

status - The status-redundancy value.

turn - The turn-redundancy value.

LBRE1Redundancy

public LBRE1Redundancy(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.

Method Detail

getE1

public double getE1()

Gets the E1-redundancy value. This is defined as the position of joint #3 for the KUKA-LWR (Lightweight robot)

Returns:

The E1-redundancy value in radians.

Throws:

IllegalStateException - if E1 is not set

setE1

public LBRE1Redundancy setE1(double e1)

Sets the E1-redundancy value. This is defined as the position of joint #3 for the KUKA-LWR (Lightweight robot)

Parameters:

e1 - The E1-redundancy value in radians.

Returns:

this object

copy

public LBRE1Redundancy 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.