com.kuka.roboticsAPI.geometricModel
Class StaticTransformationProvider

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.StaticTransformationProvider

All Implemented Interfaces:

ITransformationProvider

public final class StaticTransformationProvider
extends Object
implements ITransformationProvider

Transformation provider that just stores the reference to a ITransformation.

The stored transformation can be set.

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.

Constructor Summary

StaticTransformationProvider(ITransformation transformation)
Creates an instance of the class with the specified initial transformation.

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.
void	setTransformation(ITransformation transformation) Sets the Transformation.

Methods inherited from class java.lang.Object

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

Constructor Detail

StaticTransformationProvider

public StaticTransformationProvider(ITransformation transformation)

Creates an instance of the class with the specified initial transformation.

Parameters:

transformation - initial transformation

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 Detail

getTransformation

public ITransformation getTransformation()

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

Specified by:

getTransformation in interface ITransformationProvider

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.

setTransformation

public void setTransformation(ITransformation transformation)

Sets the Transformation.

Parameters:

transformation - the new transformation for the defined 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.

isStatic

public boolean isStatic()

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

Specified by:

isStatic in interface ITransformationProvider

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.

getUniqueName

public String getUniqueName()

Gets the unique name of the transformation provider.

Specified by:

getUniqueName in interface ITransformationProvider

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.

getPoseInformation

public PoseInformation getPoseInformation()

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

Specified by:

getPoseInformation in interface ITransformationProvider

Returns:

The information about the current pose.

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.