com.kuka.roboticsAPI.geometricModel
Interface ITransformationProvider

All Known Subinterfaces:

IDynamicTransformationProvider, ISunriseSensorModuleConfig

All Known Implementing Classes:

StaticTransformationProvider, SunriseLBRBaseFlangeTrafoProvider

public interface ITransformationProvider

A transformation provider returns a current transformation for a frame. This may be e.g. a robot delivering its transformation from its root frame to its flange or a tool delivering the transformation from its reference point where it is attached to something and its working center. Redundancy parameters may be included.

The Robotics API always assumes the translation part of transformations to be given in [mm].

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Summary

PoseInformation	getPoseInformation() Returns information about the current pose.
ITransformation	getTransformation() Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.
String	getUniqueName() Gets the unique name of the transformation provider.
boolean	isStatic() Returns true if the the transformation for the defined frame is static.

Method Detail

isStatic

boolean isStatic()

Returns true if the the transformation for the defined frame is static.

Returns:

true, if the transformation is static, else false.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getPoseInformation

PoseInformation getPoseInformation()

Returns information about the current pose. All information is obtained at the same time.

Returns:

The information about the current pose.

getTransformation

ITransformation getTransformation()

Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.

Returns:

The current transformation for the frame.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getUniqueName

String getUniqueName()

Gets the unique name of the transformation provider.

Returns:

the unique name of the transformation provider.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.