Uses of Class
com.kuka.roboticsAPI.deviceModel.JointPosition

Packages that use JointPosition

com.kuka.roboticsAPI	This package contains all sub-packages for the RoboticsAPI functionality.
com.kuka.roboticsAPI.controllerModel.recovery	This package contains classes for the recovery of robots for paused applications.
com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.
com.kuka.roboticsAPI.deviceModel	Contains classes describing the available devices in the RoboticsAPI.
com.kuka.roboticsAPI.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.requestModel	This package contains the request definition and predefined requests.

Uses of JointPosition in com.kuka.roboticsAPI

Methods in com.kuka.roboticsAPI that return JointPosition

static JointPosition	RoboticsAPIUtilities.getCorrespondingJoints(Device device, AbstractFrame frame) Gets the corresponding joint position from a frame (if present).
static JointPosition	RoboticsAPIUtilities.getJointsForDestination(ObjectFrame defaultMotionFrame, AbstractFrame destination) Calculates a joint position for a given destination and a given motion center.

Uses of JointPosition in com.kuka.roboticsAPI.controllerModel.recovery

Methods in com.kuka.roboticsAPI.controllerModel.recovery that return JointPosition

JointPosition	RecoveryInformation.getRecoveryPosition() Gets the last commanded JointPosition.
JointPosition	PTPRecoveryStrategy.getStartPosition()
JointPosition	IPTPRecoveryStrategy.getStartPosition() Returns the start position of this strategy.

Constructors in com.kuka.roboticsAPI.controllerModel.recovery with parameters of type JointPosition

PTPRecoveryStrategy(JointPosition startPosition, RecoveryInformation recoveryInfo)
Constructor.

RecoveryInformation(JointPosition recoveryPosition, IMotionControlMode recoveryMode, PhysicalObject attachedToolObject)
Creates an instance of the class.

Uses of JointPosition in com.kuka.roboticsAPI.controllerModel.sunrise

Methods in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type JointPosition

void	SunriseMotionExecutionContainer.setRecoveryPosAndControlMode(Primitive primitive, JointPosition recoveryPosition, IMotionControlMode mode) Sets the recovery position for the container.

Uses of JointPosition in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type JointPosition

void	ForwardKinematicsModule.setJointConfiguration(JointPosition joints) Sets the joint position which should be transformed into a cartesian position.

Uses of JointPosition in com.kuka.roboticsAPI.deviceModel

Methods in com.kuka.roboticsAPI.deviceModel that return JointPosition

JointPosition	JointPositionBuilder.build() Builds the new instance of the JointPosition from the data of the builder.
JointPosition	LBR.getAlphaInverseKinematicFromReference(AbstractFrame frame, JointPosition correspondingJoints, double alphaAngle) Gets the joint position that correspond to alphaAngle and frame using the nearest solution to a given joint position.
JointPosition	Robot.getCommandedJointPosition() Gets the commanded joint positions for this robot.
JointPosition	PositionInformation.getCommandedJointPosition() Get the commanded joint position of the specified frame, may be null.
JointPosition	PoseInformation.getCommandedJointPosition()
JointPosition	Robot.getCurrentJointPosition() Gets a copy of the current measured joint positions of the robot.
JointPosition	PositionInformation.getCurrentJointPosition() Get the current joint position of the specified frame, may be null.
JointPosition	PoseInformation.getCurrentJointPosition()
JointPosition	Robot.getHomePosition() Returns the home position of this robot.
protected abstract JointPosition	Robot.getInitialHomePosition() Gets the default home position of the concrete robot.
protected JointPosition	LBR.getInitialHomePosition() Gets the default home position of the concrete robot.
JointPosition	Robot.getInverseKinematic(ITransformation trafo, JointPosition correspondingJoints) Gets the inverse kinematics value of the given matrix for this robot.
abstract JointPosition	Robot.getInverseKinematicFromFrameAndRedundancy(AbstractFrame frame) Gets the inverse kinematics value of the given frame for this robot.
JointPosition	LBR.getInverseKinematicFromFrameAndRedundancy(AbstractFrame frame) Gets the inverse kinematics value of the given frame for this robot.
JointPosition	JointConfigurationInformation.getJointPosition() Gets the joint position of this touchup information.
JointPosition	JointLimits.getMaxJointPosition() Get the maximum joint angle values.
JointPosition	JointLimits.getMinJointPosition() Gets the minimum joint angle values.

Methods in com.kuka.roboticsAPI.deviceModel with parameters of type JointPosition

double	LBR.getAlphaAngle(JointPosition joints) Calculates the alpha redundancy parameter for a given joint configuration.
JointPosition	LBR.getAlphaInverseKinematicFromReference(AbstractFrame frame, JointPosition correspondingJoints, double alphaAngle) Gets the joint position that correspond to alphaAngle and frame using the nearest solution to a given joint position.
Frame	Robot.getForwardKinematic(JointPosition joints) Gets the forward kinematic value of the given joints for this robot.
JointPosition	Robot.getInverseKinematic(ITransformation trafo, JointPosition correspondingJoints) Gets the inverse kinematics value of the given matrix for this robot.
boolean	JointPosition.isNearlyEqual(JointPosition other) Returns true if the two joint positions are nearly equal.
boolean	JointPosition.isNearlyEqual(JointPosition other, double epsilon) Returns true if the two joint positions are nearly equal.
void	JointPosition.set(JointPosition otherValue) Sets all values of the vector to the defined value in radians of the other vector.
void	Robot.setHomePosition(JointPosition homePosition) Sets the home position of this robot.
void	JointConfigurationInformation.setJointPosition(JointPosition joints) Sets the joint position of this configuration.

Constructors in com.kuka.roboticsAPI.deviceModel with parameters of type JointPosition

JointConfigurationInformation(JointPosition joints, String controllerName, String deviceName)
Creates a new instance of a joint configuration.

JointLimits(JointPosition maxJointPosition, JointPosition minJointPosition)
Creates an instance of the class.

JointPosition(JointPosition other)
Creates a new joint position as a copy of the given joint position.

JointPositionBuilder(JointPosition jointPosition)
Creates an instance of the JoinPositionBuilder given as a parameter a JointPosition.

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

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

Uses of JointPosition in com.kuka.roboticsAPI.motionModel

Methods in com.kuka.roboticsAPI.motionModel that return JointPosition

JointPosition	PTP.getDestination() Gets the destination of the motion.
JointPosition	IJointMotionWithDestination.getDestination() Returns the motion destination joint position.

Methods in com.kuka.roboticsAPI.motionModel with parameters of type JointPosition

static PTP

BasicMotions.ptp(JointPosition jointAngles) Creates a PTP motion.

Constructors in com.kuka.roboticsAPI.motionModel with parameters of type JointPosition

PTP(JointPosition destination)
Creates a new JointMotion.

Uses of JointPosition in com.kuka.roboticsAPI.requestModel

Methods in com.kuka.roboticsAPI.requestModel that return JointPosition

JointPosition	GetInverseKinematicsFromReferenceRequest.getCorrespondingJoints() Gets the optional joint configuration for the given matrix.
JointPosition	GetAlphaInverseKinematicsFromReferenceRequest.getCorrespondingJoints() Gets the joint configuration for the given matrix.
JointPosition	GetForwardKinematicValidRequest.getJoints() Gets the joints for which the forward kinematic should be calculated.
JointPosition	GetAlphaAngleRequest.getJoints() Gets the joints for which the alpha angle should be calculated.
JointPosition	GetInverseKinematicsFromReferenceRequest.getResult() Gets the result of the request.
JointPosition	GetInverseKinematicsFromFrameAndRedundancyRequest.getResult()
JointPosition	GetAlphaInverseKinematicsFromReferenceRequest.getResult() Gets the result of the request.

Methods in com.kuka.roboticsAPI.requestModel with parameters of type JointPosition

void	GetInverseKinematicsFromReferenceRequest.setResult(JointPosition result) Sets the result for this request.
void	GetInverseKinematicsFromFrameAndRedundancyRequest.setResult(JointPosition result) Sets the result for this request.
void	GetAlphaInverseKinematicsFromReferenceRequest.setResult(JointPosition result) Sets the result for this request.

Constructors in com.kuka.roboticsAPI.requestModel with parameters of type JointPosition

GetAlphaAngleRequest(LBR lbr, JointPosition joints)
Creates a new GetAlphaAngleRequest.

GetAlphaInverseKinematicsFromReferenceRequest(LBR lbr, AbstractFrame frame, JointPosition correspondingJoints, double alphaAngle)
Creates a new request instance.

GetForwardKinematicValidRequest(Robot robot, JointPosition joints)
Creates a new request instance.

GetInverseKinematicsFromReferenceRequest(Robot robot, ITransformation matrix, JointPosition correspondingJoints)
Creates a new request instance.