com.kuka.roboticsAPI.geometricModel
Class Tool

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.geometricModel.Tool

All Implemented Interfaces:

com.kuka.common.ITaggable

public class Tool
extends PhysicalObject

A tool is an object that can be attached to the robot.

A tool always has a root frame which is equivalent to robots flange. The tool may have a lot of TCPs. The tool must have load data.

Constructor Summary

Tool(String name)
Creates a new Tool instance with the given name and a root frame.

Tool(String name, LoadData load)
Creates a new Tool instance with the given name and the specified load data.

Method Summary

boolean

compare(Tool other) Compares this tool with the specified tool.

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getDefaultMotionFrame, getLoadData, move, move, moveAsync, moveAsync, setDefaultMotionFrame

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, setName, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

Tool

public Tool(String name)

Creates a new Tool instance with the given name and a root frame.

Parameters:

name - the tools name.

Tool

public Tool(String name,
            LoadData load)

Creates a new Tool instance with the given name and the specified load data.

Parameters:

name - the tools name.

load - the tools load data.

Method Detail

compare

public boolean compare(Tool other)

Compares this tool with the specified tool.

Parameters:

other - the tool to compare

Returns:

true if the tools are equal, false otherwise