com.kuka.roboticsAPI.deviceModel
Class PoseInformation

java.lang.Object
  com.kuka.roboticsAPI.deviceModel.PoseInformation

public class PoseInformation
extends Object

Provides information about the current pose of a robot.

Constructor Summary

PoseInformation(ITransformation currentTransformation, IRedundancyCollection currentRedundancy, JointPosition currentJointPosition, ITransformation commandedTransformation, IRedundancyCollection commandedRedundancy, JointPosition commandedJointPosition)
Constructor.

Method Summary

JointPosition	getCommandedJointPosition()
IRedundancyCollection	getCommandedRedundancy()
ITransformation	getCommandedTransformation()
JointPosition	getCurrentJointPosition()
IRedundancyCollection	getCurrentRedundancy()
ITransformation	getCurrentTransformation()

Methods inherited from class java.lang.Object

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

Constructor Detail

PoseInformation

public PoseInformation(ITransformation currentTransformation,
                       IRedundancyCollection currentRedundancy,
                       JointPosition currentJointPosition,
                       ITransformation commandedTransformation,
                       IRedundancyCollection commandedRedundancy,
                       JointPosition commandedJointPosition)

Constructor.

Parameters:

currentTransformation - the transformation of the current pose.

currentRedundancy - the redundancy information of the current pose.

currentJointPosition - the current joint position.

commandedTransformation - the transformation of the commanded pose.

commandedRedundancy - the redundancy information of the commanded pose.

commandedJointPosition - the commanded joint position.

Method Detail

getCommandedTransformation

public ITransformation getCommandedTransformation()

Returns:

Returns the transformation of the commanded pose.

getCurrentTransformation

public ITransformation getCurrentTransformation()

Returns:

Returns the transformation of the current pose.

getCommandedJointPosition

public JointPosition getCommandedJointPosition()

Returns:

Returns the commanded joint position.

getCurrentJointPosition

public JointPosition getCurrentJointPosition()

Returns:

Returns the current joint position.

getCurrentRedundancy

public IRedundancyCollection getCurrentRedundancy()

Returns:

Returns the redundancy information of the current pose.

getCommandedRedundancy

public IRedundancyCollection getCommandedRedundancy()

Returns:

Returns the redundancy information of the commanded pose.