Uses of Class
com.kuka.roboticsAPI.geometricModel.AbstractFrame

Packages that use AbstractFrame

com.kuka.roboticsAPI	This package contains all sub-packages for the RoboticsAPI functionality.
com.kuka.roboticsAPI.conditionModel	Contains all necessary classes to build conditions.
com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.requests	Contains the Sunrise specific request mappings / implementations.
com.kuka.roboticsAPI.deviceModel	Contains classes describing the available devices in the RoboticsAPI.
com.kuka.roboticsAPI.geometricModel	Contains classes describing geometric relations between objects.
com.kuka.roboticsAPI.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.motionModel.controlModeModel	Contains classes for describing motion control modes.
com.kuka.roboticsAPI.motionModel.velocityControlled	Contains classes for describing velocity controlled motions.
com.kuka.roboticsAPI.persistenceModel	Contains classes for handling the persistence.
com.kuka.roboticsAPI.requestModel	This package contains the request definition and predefined requests.
com.kuka.roboticsAPI.sensorModel	Contains classes for describing sensors.

Uses of AbstractFrame in com.kuka.roboticsAPI

Methods in com.kuka.roboticsAPI with parameters of type AbstractFrame

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.
static Robot	RoboticsAPIUtilities.getRobotIfFrameIsAttachedToFlange(AbstractFrame frame)
static <T extends Device> T	RoboticsAPIUtilities.searchDevice(Class<T> deviceClass, AbstractFrame frame) Finds an attached device that can be located from the given frame.
static Robot	RoboticsAPIUtilities.searchRobot(AbstractFrame frame) Finds an attached robot of the given frame.
static <T extends Device> T	RoboticsAPIUtilities.trySearchDevice(Class<T> deviceClass, AbstractFrame frame) Finds an attached device that can be located from the given frame.

Uses of AbstractFrame in com.kuka.roboticsAPI.conditionModel

Methods in com.kuka.roboticsAPI.conditionModel that return AbstractFrame

AbstractFrame	FrameDistanceCondition.getFixedFrame() Gets the frame for the fixed point.
AbstractFrame	FrameDistanceCondition.getFrameA() Gets frameA which is used in the condition to measure the distance to.
AbstractFrame	FrameDistanceCondition.getFrameB() Gets frameB which is used in the condition to measure the distance to.
AbstractFrame	TorqueComponentCondition.getMeasureFrame() Gets the frame where the measurement will take place.
AbstractFrame	ForceCondition.getMeasureFrame() Gets the frame where the measurement will take place.
AbstractFrame	ForceComponentCondition.getMeasureFrame() Gets the frame where the measurement will take place.
AbstractFrame	CartesianTorqueCondition.getMeasureFrame() Gets the frame where the measurement will take place.
AbstractFrame	FrameDistanceCondition.getMovingFrame() Gets the frame for the moving point.
AbstractFrame	TorqueComponentCondition.getOrientationFrame() Gets the orientationFrame frame that specifies the orientation of the coordinate axes used in this condition.
AbstractFrame	FrameDistanceComponentCondition.getOrientationFrame() Gets the orientation Frame.
AbstractFrame	ForceCondition.getOrientationFrame() Gets the frame that specifies the orientation of the coordinate axes used in this condition.
AbstractFrame	ForceComponentCondition.getOrientationFrame() Gets the orientationFrame frame that specifies the orientation of the coordinate axes used in this condition.
AbstractFrame	CartesianTorqueCondition.getOrientationFrame() Gets the frame that specifies the orientation of the coordinate axes used in this condition.

Methods in com.kuka.roboticsAPI.conditionModel with parameters of type AbstractFrame

static ForceCondition	ForceCondition.createNormalForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	ForceCondition.createNormalForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	ForceCondition.createNormalForceCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	ForceCondition.createNormalForceCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the measured force in direction of the specified Cartesian coordinate axis (direction).
static ForceCondition	ForceCondition.createShearForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	ForceCondition.createShearForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	ForceCondition.createShearForceCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	ForceCondition.createShearForceCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the projection of the measured force vector to a plane.
static ForceCondition	ForceCondition.createSpatialForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	ForceCondition.createSpatialForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	ForceCondition.createSpatialForceCondition(AbstractFrame measureFrame, double threshold) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static ForceCondition	ForceCondition.createSpatialForceCondition(AbstractFrame measureFrame, double threshold, double tolerance) Creates a new ForceCondition that checks the magnitude of the three-dimensional measured force vector.
static CartesianTorqueCondition	CartesianTorqueCondition.createSpatialTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition	CartesianTorqueCondition.createSpatialTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition	CartesianTorqueCondition.createSpatialTorqueCondition(AbstractFrame measureFrame, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition	CartesianTorqueCondition.createSpatialTorqueCondition(AbstractFrame measureFrame, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the three-dimensional measured torque vector.
static CartesianTorqueCondition	CartesianTorqueCondition.createTiltingTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition	CartesianTorqueCondition.createTiltingTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition	CartesianTorqueCondition.createTiltingTorqueCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition	CartesianTorqueCondition.createTiltingTorqueCondition(AbstractFrame measureFrame, CoordinateAxis normalDirection, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the projection of the measured torque vector to a plane.
static CartesianTorqueCondition	CartesianTorqueCondition.createTurningTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition	CartesianTorqueCondition.createTurningTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition	CartesianTorqueCondition.createTurningTorqueCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold) Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).
static CartesianTorqueCondition	CartesianTorqueCondition.createTurningTorqueCondition(AbstractFrame measureFrame, CoordinateAxis direction, double threshold, double tolerance) Creates a new CartesianTorqueCondition that checks the magnitude of the measured torque in direction of the specified Cartesian coordinate axis (direction).

Constructors in com.kuka.roboticsAPI.conditionModel with parameters of type AbstractFrame

CartesianTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a CartesianTorqueCondition.

CartesianTorqueCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a CartesianTorqueCondition.

CartesianTorqueCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a CartesianTorqueCondition.

CartesianTorqueCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a CartesianTorqueCondition.

ForceComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis coordinateAxis, double min, double max)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis coordinateAxis, double min, double max, double tolerance)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, CoordinateAxis coordinateAxis, double min, double max)
Creates a new instance of ForceComponentCondition.

ForceComponentCondition(AbstractFrame measureFrame, CoordinateAxis coordinateAxis, double min, double max, double tolerance)
Creates a new instance of ForceComponentCondition.

ForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold)
Creates a new instance of a ForceCondition.

ForceCondition(AbstractFrame measureFrame, EnumSet<CoordinateAxis> coordinateAxes, double threshold, double tolerance)
Creates a new instance of a ForceCondition.

FrameDistanceComponentCondition(AbstractFrame frameA, AbstractFrame frameB, double distanceThreshold, AbstractFrame orientationFrame, EnumSet<CoordinateAxis> coordinateAxes)
Creates a new instance of Frame Distance Component Condition.

FrameDistanceCondition(AbstractFrame frameA, AbstractFrame frameB, double distanceThreshold)
Creates a new instance of the Frame Distance Condition.

TorqueComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis component, double min, double max)
Creates a new instance of TorqueComponentCondition.

TorqueComponentCondition(AbstractFrame measureFrame, AbstractFrame orientationFrame, CoordinateAxis component, double min, double max, double tolerance)
Creates a new instance of TorqueComponentCondition.

TorqueComponentCondition(AbstractFrame measureFrame, CoordinateAxis component, double min, double max)
Creates a new instance of TorqueComponentCondition.

TorqueComponentCondition(AbstractFrame measureFrame, CoordinateAxis component, double min, double max, double tolerance)
Creates a new instance of TorqueComponentCondition.

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

Methods in com.kuka.roboticsAPI.controllerModel.sunrise that return AbstractFrame

AbstractFrame	IDynamicTransformationProvider.getReferenceFrame() Get the reference frame.
AbstractFrame	IDynamicTransformationProvider.getTargetFrame() Get the target frame.

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

ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult	ExternalForceTorqueCalculator.calculate(AbstractFrame measureFrame, AbstractFrame orientationFrame, LoadData... toolLoadData) Calculated the force and torque values for a list of user-defined tools.
static Transformation	SPRUtilities.getToolOffset(Robot robot, AbstractFrame defaultMotionFrame) Gets the transformation between the flange of the specified robot and its defaultMotionFrame point.
void	DeviceMappingSnapshot.setTaskFrame(AbstractFrame taskFrame) Set the task frame.

Uses of AbstractFrame in com.kuka.roboticsAPI.controllerModel.sunrise.mapping

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping that return AbstractFrame

static AbstractFrame

FrameGraphHelper.searchTaskFrame(AbstractFrame targetFrame) Search the (possibly dynamic) task frame for the motion interpolation in the configured scenegraph.

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

void	ForceMappingInformation.addTwistWrenchTrafo(AbstractFrame measureFrame, AbstractFrame orientationFrame) Adds the TwistWrenchTrafo module to the SPR.
static void	FrameGraphHelper.checkExactlyOneDynamicFrame(AbstractFrame dynamicFrame) Checks that there is no more than one dynamic frame on the path to scenegraph root.
static void	FrameGraphHelper.checkTaskFrameInWorld(AbstractFrame taskFrame, Robot robot) Checks that the task frame is not connected to a robot flange.
static ISunriseSensorModuleConfig	FrameGraphHelper.checkTransformationProvider(AbstractFrame dynamicFrame) Checks whether a dynamic frame has an active transformation provider of type ISunriseSensorModuleConfig.
static AbstractFrame	FrameGraphHelper.searchTaskFrame(AbstractFrame targetFrame) Search the (possibly dynamic) task frame for the motion interpolation in the configured scenegraph.
static FrameDefinitionList	FrameGraphHelper.targetFrameMapping(FrameDefinitionList frameGraph, SunriseMappingToken info, Robot robot, AbstractFrame taskFrame, AbstractFrame targetFrame) Configures the frame graph so that the transformation from robot root to robot flange for a given target frame can be computed.
static void	FrameGraphHelper.taskFrameMapping(FrameDefinitionList frameGraph, SunriseMappingToken info, Robot robot, DeviceMappingResult robotPorts, AbstractFrame taskFrame) Configures the frame to be used for interpolation on a (possibly dynamic) task frame.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type AbstractFrame

SplineData(SplineMotion<?> spline, SunriseMappingToken info, Robot robot, com.kuka.common.params.ParameterSet commandParams, AbstractFrame taskFrame)
Creates an instance of the class.

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

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type AbstractFrame

SplineMotionModule(Robot device, SunriseMappingToken info, com.kuka.common.params.ParameterSet commandParams, IMotion motion, AbstractFrame taskFrame)
Creates an instance of this class.

Uses of AbstractFrame in com.kuka.roboticsAPI.controllerModel.sunrise.requests

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

static ForceSensorData

SunriseCurrentForceRequest.getCurrentForce(ISunriseRequestService reqService, SensorForExternalForce sensor, AbstractFrame measureFrame, AbstractFrame orientationFrame) Requests the current force measurement from the given force sensor, measured at the given frame.

Uses of AbstractFrame in com.kuka.roboticsAPI.deviceModel

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

boolean	Robot.checkFrameContainsRedundancy(AbstractFrame frame) Checks if the specified frame contains redundancy information for this robot.
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.getCommandedCartesianPosition(ObjectFrame frameOnFlange, AbstractFrame reference) Gets the commanded cartesian position of the specified frame in the frame tree below the flange of the robot relative to the given reference frame.
Frame	Robot.getCurrentCartesianPosition(ObjectFrame frameOnFlange, AbstractFrame reference) Gets the current cartesian position of the specified frame in the frame tree below the flange of the robot relative to the given reference frame.
ForceSensorData	LBR.getExternalForceTorque(AbstractFrame measureFrame) Gets the external force measured by the robot at the position and in the orientation of the specified measure frame.
ForceSensorData	IForceSensitiveRobot.getExternalForceTorque(AbstractFrame measureFrame) Gets the external force measured by the robot at the position and in the orientation of the specified measure frame.
ForceSensorData	LBR.getExternalForceTorque(AbstractFrame measureFrame, AbstractFrame orientationFrame) Gets the external force measured by the robot at the position and in the orientation of the specified frames.
ForceSensorData	IForceSensitiveRobot.getExternalForceTorque(AbstractFrame measureFrame, AbstractFrame orientationFrame) Gets the external force measured by the robot at the position and in the orientation of the specified frames.
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.
PositionInformation	Robot.getPositionInformation(ObjectFrame frameOnFlange, AbstractFrame reference) Gets information about the current and commanded position of the specified frame in the frame tree below the flange of the robot relative to the given reference frame.
void	Robot.setHomePosition(AbstractFrame home) Sets the home position of this robot.

Uses of AbstractFrame in com.kuka.roboticsAPI.geometricModel

Subclasses of AbstractFrame in com.kuka.roboticsAPI.geometricModel

class	Frame Represents a frame whose transformation can be manipulated directly.
class	ObjectFrame Base class for all frames that belong to spatial objects.

Methods in com.kuka.roboticsAPI.geometricModel that return AbstractFrame

static AbstractFrame	TreeUtilities.findCommonRoot(AbstractFrame frame1, AbstractFrame frame2, boolean onlyStatic) Finds the first common ancestor of the given frames in the tree.
protected AbstractFrame	AbstractFrame.findRoot() Gets the root of this frame.
AbstractFrame	AbstractFrame.getParent() Gets the parent frame of this frame.

Methods in com.kuka.roboticsAPI.geometricModel that return types with arguments of type AbstractFrame

static List<AbstractFrame>

TreeUtilities.getPathToRoot(AbstractFrame startFrame, boolean onlyStatic) Returns a list of frames that contains the path from the given frame along it's parents to the root of the tree.

Methods in com.kuka.roboticsAPI.geometricModel with parameters of type AbstractFrame

static ITransformation	TreeUtilities.calculateTransformation(AbstractFrame source, AbstractFrame destination, boolean staticPathOnly) Calculates the transformation from the given source to the destination.
static PositionInformation	TreeUtilities.calculateTransformationFrameWithRedundancy(AbstractFrame source, AbstractFrame destination) Calculates the transformation from the given source to the destination.
Frame	AbstractFrame.copy(AbstractFrame newParent) Creates a snapshot copy of the information in this frame into a new Frame, with the given Frame set as the parent of the new frame.
Frame	AbstractFrame.copyWithRedundancy(AbstractFrame newParent) Creates a snapshot copy of the information in this frame (including redundancy information) into a new Frame, with the given Frame set as the parent of the new frame.
static PhysicalObject	SceneGraphUtilities.createPhysicalSnapshot(PhysicalObject original, AbstractFrame motionFrame) Creates a physical representation snapshot of a PhysicalObject without logical information such as scene-graph information or other relationships.
double	AbstractFrame.distanceTo(AbstractFrame other) Calculates the euclidean distance of the frame to the specified destination frame.
static AbstractFrame	TreeUtilities.findCommonRoot(AbstractFrame frame1, AbstractFrame frame2, boolean onlyStatic) Finds the first common ancestor of the given frames in the tree.
Point	AbstractFrame.getOriginOf(AbstractFrame other) Gets the position vector of the other frame's origin relative to this frame's coordinate system.
String	AbstractFrame.getPathFrom(AbstractFrame frame) Gets the path from this frame to the given frame if both frames are part of the scene graph.
static List<AbstractFrame>	TreeUtilities.getPathToRoot(AbstractFrame startFrame, boolean onlyStatic) Returns a list of frames that contains the path from the given frame along it's parents to the root of the tree.
boolean	AbstractFrame.hasPathTo(AbstractFrame destination) Determines if this frame has a path to the destination.
boolean	AbstractFrame.hasStaticPathTo(AbstractFrame destination) Determines if this frame has a static path to the destination.
static boolean	TreeUtilities.havePath(AbstractFrame source, AbstractFrame destination) Determines if the two given frames have a path (can have dynamic frames in between) in the tree that connects the two.
static boolean	TreeUtilities.haveStaticPath(AbstractFrame source, AbstractFrame destination) Determines if the two given frames have a static path in the tree that connects the two.
boolean	AbstractFrame.isChildOf(AbstractFrame frame) Checks whether the given frame is an ancestor of this frame.
boolean	AbstractFrame.isCloseTo(AbstractFrame other, double maxCartDist, double maxRotDist) Tests whether this frame lies close to another frame in space.
Frame	Frame.orientateLike(AbstractFrame other) Changes the orientation of this frame the frame to match the orientation of the specified frame.
protected void	AbstractFrame.orientateLikeInternal(AbstractFrame other) Changes the orientation of this frame the frame to match the orientation of the specified frame.
double	AbstractFrame.rotationalDistanceTo(AbstractFrame other) Calculates the rotational distance from this frame to the other frame.
protected void	ObjectFrame.setParent(AbstractFrame parent)
void	Frame.setParent(AbstractFrame parent)
protected void	AbstractFrame.setParent(AbstractFrame parent) Sets the reference frame (parent) for this frame.
void	Frame.setParent(AbstractFrame parent, boolean keepTrafoToWorld) Sets the reference frame (parent) for this frame.
void	Frame.setParentAndTransformation(AbstractFrame parentFrame, ITransformation offsetFromParent)
protected void	AbstractFrame.setParentAndTransformation(AbstractFrame parentFrame, ITransformation offsetFromParent) Sets parent for the frame and the transformation from this parent.
Transformation	AbstractFrame.staticTransformationTo(AbstractFrame destination) Calculates the static transformation from this frame to the given destination frame.
Frame	Frame.transform(AbstractFrame reference, ITransformation offset) Transforms this frame relative to the given reference frame with the specified offset.
Transformation	AbstractFrame.transformationTo(AbstractFrame destination) Calculates the transformation from this frame to the given destination frame.
protected void	AbstractFrame.transformInternal(AbstractFrame reference, ITransformation offset) Transforms this frame relative to the given frame with the specified offset.

Constructors in com.kuka.roboticsAPI.geometricModel with parameters of type AbstractFrame

Frame(AbstractFrame parent)
Creates a new frame with the specified parent and the no offset from it's parent.

Frame(AbstractFrame parent, double x, double y, double z)
Creates a new frame with the given parent and the given transformation from it's parent.

Frame(AbstractFrame parent, double x, double y, double z, double a, double b, double c)
Creates a new frame with the given parent and the given transformation from it's parent.

Frame(AbstractFrame parent, ITransformation offsetFromParent)
Creates a new frame with the specified parent and the given transformation from this parent.

Frame(AbstractFrame parent, StaticTransformationProvider transformationProvider)
Creates a new frame connected to the given parent with the specified transformation provider that should provide the transformation between the parent frame and the new frame.

PathNotFoundException(AbstractFrame source, AbstractFrame target, boolean staticPathOnly)
Creates a new PathNotFoundException.

Uses of AbstractFrame in com.kuka.roboticsAPI.motionModel

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

AbstractFrame	CIRC.getAuxiliaryFrame() Gets the auxiliary frame for the CIRC motion.
AbstractFrame	IMotionWithDestinationFrame.getDestination() Gets the motion destination.
AbstractFrame	CartesianPTP.getDestination() Gets the destination frame for this PTP which has been passed by the constructor.
AbstractFrame	AbsoluteSplineMotionCP.getDestination() Gets the destination.
AbstractFrame	RelativeSplineMotionCP.getReferenceFrame() Gets the reference frame for the motion.

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

static CIRC	BasicMotions.circ(AbstractFrame auxiliaryFrame, AbstractFrame destination) Creates a CIRC motion.
static LIN	BasicMotions.lin(AbstractFrame destination) Creates a LIN motion.
static RelativeLIN	BasicMotions.linRel(double x, double y, double z, AbstractFrame referenceFrame) Creates a relative LIN motion object with the given offset, relative to a reference frame.
static RelativeLIN	BasicMotions.linRel(double x, double y, double z, double alphaRad, double betaRad, double gammaRad, AbstractFrame referenceFrame) Creates a relative LIN motion object with the given offset, relative to a reference frame.
static RelativeLIN	BasicMotions.linRel(ITransformation frameTransformation, AbstractFrame relativeFrame) Creates a relative LIN motion object, relative to a reference frame.
static CartesianPTP	BasicMotions.ptp(AbstractFrame destination) Creates a Cartesian PTP motion.
T	RelativeSplineMotionCP.setReferenceFrame(AbstractFrame referenceFrame) Sets the reference frame for the relative motion.
static SPL	BasicMotions.spl(AbstractFrame destination) Creates a SPL motion.

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

AbsoluteSplineMotionCP(AbstractFrame destination)
Creates a new absolute spline motion.

CartesianPTP(AbstractFrame destination)
Creates a new CartesianPTP motion.

CIRC(AbstractFrame auxiliaryFrame, AbstractFrame destination)
Creates a new CIRC motion.

LIN(AbstractFrame destination)
Creates a new LIN motion.

RelativeLIN(double x, double y, double z, AbstractFrame referenceFrame)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(double x, double y, double z, double alphaRad, double betaRad, double gammaRad, AbstractFrame referenceFrame)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(ITransformation offset, AbstractFrame referenceFrame)
Creates a new relative LIN motion, relative to a reference frame.

RelativeLIN(Vector offset, AbstractFrame referenceFrame)
Creates a new relative LIN motion, relative to a reference frame.

RelativeSplineMotionCP(double x, double y, double z, double aRad, double bRad, double cRad, AbstractFrame referenceFrame)
* Creates a new relative spline motion with the given offset, relative to a reference frame.

RelativeSplineMotionCP(ITransformation offset, AbstractFrame referenceFrame)
Creates a new relative spline motion with the given offset, relative to a reference frame.

SPL(AbstractFrame destination)
Creates a new SPL motion.

Uses of AbstractFrame in com.kuka.roboticsAPI.motionModel.controlModeModel

Methods in com.kuka.roboticsAPI.motionModel.controlModeModel that return AbstractFrame

AbstractFrame	CartesianImpedanceControlMode.getReferenceSystem() Gets the reference system for the impedance settings.
AbstractFrame	CartesianImpedanceControlMode.getSpringPosition() Gets the position of the spring.

Methods in com.kuka.roboticsAPI.motionModel.controlModeModel with parameters of type AbstractFrame

CartesianImpedanceControlMode	CartesianImpedanceControlMode.setReferenceSystem(AbstractFrame referenceSystem) Sets the reference system for the impedance settings.
CartesianImpedanceControlMode	CartesianImpedanceControlMode.setSpringPosition(AbstractFrame springPosition) Sets the position of the spring.

Uses of AbstractFrame in com.kuka.roboticsAPI.motionModel.velocityControlled

Methods in com.kuka.roboticsAPI.motionModel.velocityControlled that return AbstractFrame

AbstractFrame

VelocityControlledCartesianMotion.getReferenceFrame() Deprecated. Gets the reference frame.

Methods in com.kuka.roboticsAPI.motionModel.velocityControlled with parameters of type AbstractFrame

void	VelocityControlledCartesianMotion.setReferenceFrame(AbstractFrame referenceFrame) Deprecated. Sets the reference frame.

Uses of AbstractFrame in com.kuka.roboticsAPI.persistenceModel

Methods in com.kuka.roboticsAPI.persistenceModel with parameters of type AbstractFrame

void	XmlApplicationDataSource.moveFrame(AbstractFrame frameToMove, ObjectFrame newParent) Moves the given frame to the given new parent.
void	XmlApplicationDataSource.renameFrame(AbstractFrame frameToChange, String newName) Changes the name of the given frame to newName.

Uses of AbstractFrame in com.kuka.roboticsAPI.requestModel

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

AbstractFrame	GetInverseKinematicsFromFrameAndRedundancyRequest.getFrame() Gets the frame.
AbstractFrame	GetAlphaInverseKinematicsFromReferenceRequest.getFrame() Gets the frame whose position should be transformed into a joint position.

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

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

GetInverseKinematicsFromFrameAndRedundancyRequest(Robot robot, AbstractFrame frame)
Creates a new request instance.

Uses of AbstractFrame in com.kuka.roboticsAPI.sensorModel

Methods in com.kuka.roboticsAPI.sensorModel that return AbstractFrame

AbstractFrame	GetForceSensorDataRequest.getMeasureFrame() Gets the frame at which the force should be measured.
AbstractFrame	CartesianPositionInformation.getMeasureFrame() Gets the measure frame in which the Cartesian position will be measured.
AbstractFrame	CartesianForceTorqueInformation.getMeasureFrame() Gets the measure frame in which the Cartesian force/torque will be measured.
AbstractFrame	GetForceSensorDataRequest.getOrientationFrame() Gets the orientation frame.
AbstractFrame	CartesianForceTorqueInformation.getOrientationFrame() Gets the orientation frame in which the Cartesian force/torque will be measured.
AbstractFrame	CartesianPositionInformation.getReferenceFrame() Gets the reference frame in which the Cartesian position will be measured.

Methods in com.kuka.roboticsAPI.sensorModel with parameters of type AbstractFrame

DataRecorder	DataRecorder.addCartesianForce(AbstractFrame measureFrame, AbstractFrame orientationFrame) Adds Cartesian forces (along axis x, y, z) in [N].
DataRecorder	DataRecorder.addCartesianTorque(AbstractFrame measureFrame, AbstractFrame orientationFrame) Adds Cartesian torques (about axis x, y, z) in [Nm].
DataRecorder	DataRecorder.addCommandedCartesianPositionXYZ(AbstractFrame measureFrame, AbstractFrame referenceFrame) Adds the the commanded Cartesian position of the specified frame.
DataRecorder	DataRecorder.addCurrentCartesianPositionXYZ(AbstractFrame measureFrame, AbstractFrame referenceFrame) Adds the the current Cartesian position of the specified frame.
ForceSensorData	SensorForExternalForce.getSensorData(AbstractFrame measureFrame, AbstractFrame orientationFrame) Gets the estimated force data for the specified frame.

Constructors in com.kuka.roboticsAPI.sensorModel with parameters of type AbstractFrame

CartesianForceTorqueInformation(AbstractFrame measureFrame, AbstractFrame orientationFrame)
Creates a new instance of type CartesianForceTorqueInformation with given measure Frame and orientation Frame.

CartesianPositionInformation(AbstractFrame measureFrame, AbstractFrame referenceFrame)
Creates a new instance of type CartesianPositionInformation with given measure Frame and reference Frame.

GetForceSensorDataRequest(SensorForExternalForce sensor, AbstractFrame measureFrame, AbstractFrame orientationFrame)
Creates a new GetForceSensorDataRequest instance.