com.kuka.roboticsAPI.deviceModel
Class PositionInformation

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

public class PositionInformation
extends Object

Provides information of the current and commanded Cartesian position of a device.

Constructor Summary

PositionInformation(Frame currentCartesianPosition, Frame commandedCartesianPosition, JointPosition currentJointPosition, JointPosition commandedJointPosition)
Creates a new instance of type PositionInformation with given Cartesian and joint position data.

Method Summary

Frame	getCommandedCartesianPosition() Get the commanded Cartesian position of the specified frame.
JointPosition	getCommandedJointPosition() Get the commanded joint position of the specified frame, may be null.
Frame	getCurrentCartesianPosition() Get the current Cartesian position of the specified frame.
JointPosition	getCurrentJointPosition() Get the current joint position of the specified frame, may be null.
Rotation	getRotationOffset() Get the rotation offset between current and commanded Cartesian position of the specified frame.
Vector	getTranslationOffset() Get the translation offset between current and commanded Cartesian position of the specified frame.
boolean	hasJointPositions() True if joint positions are stored in this information set, false otherwise.

Methods inherited from class java.lang.Object

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

Constructor Detail

PositionInformation

public PositionInformation(Frame currentCartesianPosition,
                           Frame commandedCartesianPosition,
                           JointPosition currentJointPosition,
                           JointPosition commandedJointPosition)

Creates a new instance of type PositionInformation with given Cartesian and joint position data.

The Cartesian position data refers to a specified frame in the frame tree of a device with a specified reference frame as parent.

Parameters:

currentCartesianPosition - The current Cartesian position as Frame. null is not allowed

commandedCartesianPosition - The commanded Cartesian position as Frame. null is not allowed

currentJointPosition - The current joint position as JointPosition. null is allowed

commandedJointPosition - The commanded joint position as JointPosition. null is allowed

Method Detail

hasJointPositions

public boolean hasJointPositions()

True if joint positions are stored in this information set, false otherwise.

Returns:

True if joint positions are stored in this information set, false otherwise.

getCurrentCartesianPosition

public Frame getCurrentCartesianPosition()

Get the current Cartesian position of the specified frame.

Returns:

The current position as Frame with redundancy information.

getCommandedCartesianPosition

public Frame getCommandedCartesianPosition()

Get the commanded Cartesian position of the specified frame.

Returns:

The commanded position as Frame with redundancy information.

getCurrentJointPosition

public JointPosition getCurrentJointPosition()

Get the current joint position of the specified frame, may be null.

Returns:

The current position as JointPosition.

getCommandedJointPosition

public JointPosition getCommandedJointPosition()

Get the commanded joint position of the specified frame, may be null.

Returns:

The commanded position as JointPosition.

getTranslationOffset

public Vector getTranslationOffset()

Get the translation offset between current and commanded Cartesian position of the specified frame.

Returns:

The translation offset as Vector starting from the current position.

getRotationOffset

public Rotation getRotationOffset()

Get the rotation offset between current and commanded Cartesian position of the specified frame.

Returns:

The rotation offset as Rotation starting from the current position.