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

Packages that use ObjectFrame

com.kuka.roboticsAPI	This package contains all sub-packages for the RoboticsAPI functionality.
com.kuka.roboticsAPI.applicationModel	Contains classes needed for applications using RoboticsAPI.
com.kuka.roboticsAPI.controllerModel.recovery	This package contains classes for the recovery of robots for paused applications.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
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.geometricModel.physics	This package contains some utility classes for physics calculations.
com.kuka.roboticsAPI.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.motionModel.stopConditions	Contains classes for describing stop conditions.
com.kuka.roboticsAPI.persistenceModel	Contains classes for handling the persistence.

Uses of ObjectFrame in com.kuka.roboticsAPI

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

static JointPosition

RoboticsAPIUtilities.getJointsForDestination(ObjectFrame defaultMotionFrame, AbstractFrame destination) Calculates a joint position for a given destination and a given motion center.

Uses of ObjectFrame in com.kuka.roboticsAPI.applicationModel

Methods in com.kuka.roboticsAPI.applicationModel that return ObjectFrame

ObjectFrame	RoboticsAPIApplicationData.getFrame(String framePath)
ObjectFrame	RoboticsAPIApplication.getFrame(String name) Gets a persistent frame with the given name.
ObjectFrame	IApplicationData.getFrame(String framePath) Gets a persistent frame with the given path.
ObjectFrame	RoboticsAPIApplicationData.tryGetFrame(String framePath)
ObjectFrame	IApplicationData.tryGetFrame(String framePath) Gets a persistent frame with the given path.

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

Methods in com.kuka.roboticsAPI.controllerModel.recovery with parameters of type ObjectFrame

void	ReattachableObject.attachTo(ObjectFrame newParent) Attaches the object to a new parent.
static List<ReattachableObject>	ReattachableObject.getAllAttachedObjects(ObjectFrame parent) Gets all attached SceneGraphObjects as a List of ReattachableObjects.
static List<ReattachableObject>	ReattachableObject.getAllAttachedObjectsAsSnapshot(ObjectFrame parent) Gets a snapshot of all attached SceneGraphObjects as a List of ReattachableObjects.

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

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

ObjectFrame

SunriseMappingToken.getDefaultMotionFrame() Gets the defaultMotionFrame data field.

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

void	SunriseMappingToken.setDefaultMotionFrame(ObjectFrame defaultMotionFrame) Sets the defaultMotionFrame data field.

Uses of ObjectFrame in com.kuka.roboticsAPI.deviceModel

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

ObjectFrame	Robot.getDefaultMotionFrame() Deprecated. use Robot.getFlange() instead
ObjectFrame	Robot.getFlange() Gets the flange frame of the robot.

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

Frame	Robot.getCommandedCartesianPosition(ObjectFrame frameOnFlange) Gets the commanded cartesian position of the specified frame in the frame tree below the flange of the robot relative to WORLD base frame SceneGraphObject.getRootFrame().
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) Gets the current cartesian position of the specified frame in the frame tree below the flange of the robot relative to WORLD base frame SceneGraphObject.getRootFrame().
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.
PositionInformation	Robot.getPositionInformation(ObjectFrame frameOnFlange) Gets information about the current and commanded position of the specified frame in the frame tree below the flange of the robot relative to WORLD base frame SceneGraphObject.getRootFrame().
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.setDefaultMotionFrame(ObjectFrame defaultMotionFrame) Sets the defaultMotionFrame of the object.

Uses of ObjectFrame in com.kuka.roboticsAPI.geometricModel

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

ObjectFrame	SceneGraphObject.addChildFrame(String name) Adds a new frame with the given name and transformation = MatrixTransformation = IDENTITY from the root frame of this object.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ITransformation offset) Adds a new frame with the given name and transformation from the root frame of this object.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent) Adds a new frame with the given name and transformation = MatrixTransformation = IDENTITY to the given parent frame.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent, ITransformation offset) Adds a new frame with the given name and transformation from the given parent frame.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent, ITransformationProvider provider) Adds a new frame with the given name and transformation to the root frame of this object.
ObjectFrame	SceneGraphObject.addChildFrame(String id, String name, ObjectFrame parent, ITransformation offset) Adds a new frame with the given name and transformation from the given parent frame.
ObjectFrame	PhysicalObject.addDefaultMotionFrame(String name, ITransformation offset) Adds a new frame with the given name and transformation from the root frame of this object.
ObjectFrame	ObjectFrame.getChild(String childName) Gets the child frame with the given childName if it is a child of this frame.
ObjectFrame	PhysicalObject.getDefaultMotionFrame() Gets the current defaultMotionFrame.
ObjectFrame	SceneGraphObject.getFrame(String path) Gets the object frame with the given path from the object frame to the root of this object.
ObjectFrame	Workpiece.getGripPoint(String name) Gets the grip point of this work piece by its frame name.
ObjectFrame	ObjectFrame.getParent()
ObjectFrame	SceneGraphObject.getRootFrame() Gets the root frame of this object.

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

List<ObjectFrame>	SceneGraphObject.getAllFrames() Gets a list of all frames of the object.
List<ObjectFrame>	ObjectFrame.getChildren() Deprecated. This method contains an inherent threading flaw; use getChildrenSnapshot() instead.
List<ObjectFrame>	ObjectFrame.getChildrenSnapshot() Returns a snapshot of this frame's direct child frames.

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

protected void	ObjectFrame.addChild(ObjectFrame frame) Adds the frame to this frames children list, if it's not a child yet.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent) Adds a new frame with the given name and transformation = MatrixTransformation = IDENTITY to the given parent frame.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent, ITransformation offset) Adds a new frame with the given name and transformation from the given parent frame.
ObjectFrame	SceneGraphObject.addChildFrame(String name, ObjectFrame parent, ITransformationProvider provider) Adds a new frame with the given name and transformation to the root frame of this object.
ObjectFrame	SceneGraphObject.addChildFrame(String id, String name, ObjectFrame parent, ITransformation offset) Adds a new frame with the given name and transformation from the given parent frame.
static void	ToolUtilities.addChildFramesRec(PhysicalObject obj, ObjectFrame parent, List<ObjectFrame> children) Adds all child frames to the specified physical object.
void	Workpiece.addGripPoint(ObjectFrame frame) Adds a new grip point to this work piece.
void	SpatialObject.attachTo(ObjectFrame frame) Changes the objects root frame parent to the given frame and sets the transformation to MatrixTransformation.IDENTITY.
void	ObjectFrame.attachTo(ObjectFrame frame) Attaches the owner object of this frame to another object by creating the geometric link between this frame and the specified frame with the MatrixTransformation.IDENTITY transformation.
void	SpatialObject.attachTo(ObjectFrame frame, ITransformation trans) Changes the objects root frame parent to the given frame and sets the root frame transformation to the given transformation.
void	ObjectFrame.attachTo(ObjectFrame frame, ITransformation trans) Attaches the owner object of this frame to another object by creating the geometric link between this frame and the specified frame with the specified transformation.
static void	TreeUtilities.buildFramePath(ObjectFrame frame, ObjectFrame strip, StringBuilder sb) Adds the path of the given frame from its root to the given StringBuilder.
protected void	SceneGraphObject.changeFrameParent(ObjectFrame frame, ObjectFrame newParent) Changes the frames parent to newParent.
void	SceneGraphObject.changeFramePosition(ObjectFrame frame, ITransformation newOffset) Changes the frame position in the object relative to its parent..
protected void	World.changeParent(ObjectFrame frame)
protected void	SpatialObject.changeParent(ObjectFrame frame) Sets the new parent frame for this object if the new parent frame is not part of the subtree.
protected abstract void	SceneGraphObject.changeParent(ObjectFrame frame) Changes the parent of this object.
protected void	ObjectFrame.changeParent(ObjectFrame parent) Changes the parent of this frame.
static void	TreeUtilities.dumpTree(PrintStream out, ObjectFrame start) Dumps the frame tree starting from the given frame.
static String	TreeUtilities.getFramePath(ObjectFrame frame, ObjectFrame strip) Returns the path of the given frame from its root.
protected boolean	ObjectFrame.isPartOfSubTree(ObjectFrame frame) Checks if the given frame appears in the current ObjectFrames children.
protected void	ObjectFrame.removeChild(ObjectFrame frame) Removes the given frame from this frames the children list.
void	Workpiece.removeFrame(ObjectFrame frame) Removes a child frame from this object.
void	SceneGraphObject.removeFrame(ObjectFrame frame) Removes the specified child frame and sets the owner of all its children to null.
void	SceneGraphObject.renameFrame(ObjectFrame frame, String newName) Changes the name of the specified frame.
void	PhysicalObject.setDefaultMotionFrame(ObjectFrame defaultMotionFrame) Sets the defaultMotionFrame of the object.
protected void	SceneGraphObject.setRootFrame(ObjectFrame frame) Sets the root frame of this object, if frame is not null and no root frame for this object exists.
void	SpatialObject.switchParent(ObjectFrame frame) Changes the objects root frame parent to the given frame.

Method parameters in com.kuka.roboticsAPI.geometricModel with type arguments of type ObjectFrame

static void

ToolUtilities.addChildFramesRec(PhysicalObject obj, ObjectFrame parent, List<ObjectFrame> children) Adds all child frames to the specified physical object.

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

ObjectFrame(String name, ObjectFrame parent, ITransformation offset)
Creates a new frame with the specified parent and the given transformation from the parent.

ObjectFrame(String name, ObjectFrame parent, SceneGraphObject owner, ITransformationProvider transformationProvider)
Creates a new ObjectFrame instance with the given name, the given parent frame and owner.

ObjectFrame(String name, SceneGraphObject owner, ObjectFrame parent)
Creates a new ObjectFrame instance with the given name and the owners base frame as parent.

ObjectFrame(String id, String name, ObjectFrame parent, ITransformation offset)
Creates a new frame with the specified parent and the given transformation from the parent.

ObjectFrame(String id, String name, SceneGraphObject owner, ObjectFrame parent)
Creates a new ObjectFrame instance with the given id, name and the owners base frame as parent.

Uses of ObjectFrame in com.kuka.roboticsAPI.geometricModel.physics

Methods in com.kuka.roboticsAPI.geometricModel.physics with parameters of type ObjectFrame

static LoadData

PhysicsUtils.calculateLoadData(ObjectFrame reference) Calculates the load data (mass center, inertia and mass) of all attached objects of the given reference frame.

Uses of ObjectFrame in com.kuka.roboticsAPI.motionModel

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

ObjectFrame

MotionInstruction.getDefaultMotionFrame() Gets the defaultMotionFrame of the moved object.

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

MotionInstruction(ObjectFrame defaultMotionFrame, IMotion motion)
Creates a new instance of the instruction.

Uses of ObjectFrame in com.kuka.roboticsAPI.motionModel.stopConditions

Methods in com.kuka.roboticsAPI.motionModel.stopConditions that return ObjectFrame

ObjectFrame

ForceStopCondition.getMeasureFrame() Gets the measure frame at which the force will get measured.

Methods in com.kuka.roboticsAPI.motionModel.stopConditions with parameters of type ObjectFrame

ForceStopCondition

ForceStopCondition.setMeasureFrame(ObjectFrame measureFrame) Sets the frame at which the force will get measured.

Uses of ObjectFrame in com.kuka.roboticsAPI.persistenceModel

Methods in com.kuka.roboticsAPI.persistenceModel that return ObjectFrame

ObjectFrame	XmlApplicationDataSource.addFrame(ObjectFrame parent) Creates an adds a new frame to the data source.
ObjectFrame	IApplicationDataSource.addFrame(ObjectFrame parent) Creates an adds a new frame to the data source.
ObjectFrame	ApplicationTool.getDefaultMotionFrame() Deprecated.
ObjectFrame	ApplicationTool.getFrame(String name) Deprecated. Gets a persistent frame with the given name.
ObjectFrame	ApplicationObject.getFrame(String name) Deprecated. Gets a persistent frame with the given name.
ObjectFrame	XmlApplicationDataSource.loadFrame(String path) Loads a frame with the specified path.
ObjectFrame	IApplicationDataSource.loadFrame(String name) Loads a frame with the specified path.
ObjectFrame	XmlApplicationDataSource.loadFrameById(String id) Loads a frame with the specified unique id.
ObjectFrame	IApplicationDataSource.loadFrameById(String id) Loads a frame with the specified unique id.
ObjectFrame	XmlApplicationDataSource.tryLoadFrame(String path) Loads a frame with the specified path.
ObjectFrame	IApplicationDataSource.tryLoadFrame(String name) Loads a frame with the specified path.

Methods in com.kuka.roboticsAPI.persistenceModel that return types with arguments of type ObjectFrame

Collection<? extends ObjectFrame>	XmlApplicationDataSource.loadAllFrames() Gets all frames known to the data source.
Collection<? extends ObjectFrame>	IApplicationDataSource.loadAllFrames() Gets all frames known to the data source.

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

ObjectFrame	XmlApplicationDataSource.addFrame(ObjectFrame parent) Creates an adds a new frame to the data source.
ObjectFrame	IApplicationDataSource.addFrame(ObjectFrame parent) Creates an adds a new frame to the data source.
void	XmlApplicationDataSource.changeFrameTransformation(ObjectFrame frameToChange, ITransformation newTransformation) Changes the frame that belongs to the data source.
void	XmlApplicationDataSource.moveFrame(AbstractFrame frameToMove, ObjectFrame newParent) Moves the given frame to the given new parent.
void	XmlApplicationDataSource.removeFrame(ObjectFrame frame) Removes the given frame.