Uses of Interface
com.kuka.roboticsAPI.geometricModel.math.ITransformation

Packages that use ITransformation

com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.api	Contains the necessary objects to work with Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib	Contains the java ConnectionLib implementation.
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.math	This package contains interfaces and implementations for basic linear algebra and geometric concepts.
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.
com.kuka.roboticsAPI.requestModel	This package contains the request definition and predefined requests.

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

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

ITransformation

SunriseLBRBaseFlangeTrafoProvider.getTransformation()

Uses of ITransformation in com.kuka.roboticsAPI.controllerModel.sunrise.api

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api that return ITransformation

ITransformation

StaticFrameSetting.getTransformation() Gets the transformation matrix of this static frame settings.

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

StaticFrameSetting	FrameDefinitionList.addFrameSetting(String referenceFrame, ITransformation transformation, String targetFrame) Adds a static frame setting to the frame definitions of the SPR.
static SSR	SSRFactory.createCalculateExternalForceAndTorqueSSR(String deviceName, ITransformation measureTransformation, ITransformation orientationTransformation, ITransformation robRoot, LoadData... toolLoadData) Creates a SSR that calculates (not measured) the external forces and torques of the robot with the specified device name.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type ITransformation

StaticFrameSetting(String referenceName, ITransformation transformation, String targetName)
Creates a new DynamicFrameSetting instance.

Uses of ITransformation in com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib with parameters of type ITransformation

SerializableTransformationMatrix(ITransformation value)
Creates a new SerializableTransformationMatrix class.

Uses of ITransformation in com.kuka.roboticsAPI.deviceModel

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

ITransformation	PoseInformation.getCommandedTransformation()
ITransformation	PoseInformation.getCurrentTransformation()
ITransformation	TeachInformation.getTcpTransformation() Get the TCP transformation.

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

Device	IDeviceFactory.createDevice(Controller controller, String name, String proposedFullQualifiedClassName, ITransformation deviceRoot) Creates the device for the given controller, device name and the proposed class name.
Device	DeviceFactory.createDevice(Controller controller, String name, String fqcn, ITransformation deviceRoot) Creates the device for the given controller, device name and the proposed class name.
JointPosition	Robot.getInverseKinematic(ITransformation trafo, JointPosition correspondingJoints) Gets the inverse kinematics value of the given matrix for this robot.
boolean	TeachInformation.isTcpCloseTo(ITransformation transformationToCheck) Checks if the given transformation is (nearly) equal to the taught TCP transformation of teach info.
void	TeachInformation.setTcpTransformation(ITransformation tcpTrafo) Set the TCP transformation.

Constructors in com.kuka.roboticsAPI.deviceModel with parameters of type ITransformation

PoseInformation(ITransformation currentTransformation, IRedundancyCollection currentRedundancy, JointPosition currentJointPosition, ITransformation commandedTransformation, IRedundancyCollection commandedRedundancy, JointPosition commandedJointPosition)
Constructor.

Uses of ITransformation in com.kuka.roboticsAPI.geometricModel

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

static ITransformation	TreeUtilities.calculateTransformation(AbstractFrame source, AbstractFrame destination, boolean staticPathOnly) Calculates the transformation from the given source to the destination.
ITransformation	StaticTransformationProvider.getTransformation() Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.
ITransformation	ITransformationProvider.getTransformation() Gets the current transformation for the defined frame for which the implementing class is used as transformation provider.

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

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, ITransformation offset) Adds a new frame with the given name and transformation from the given parent frame.
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.
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.
void	SceneGraphObject.changeFramePosition(ObjectFrame frame, ITransformation newOffset) Changes the frame position in the object relative to its parent..
void	ToolData.setBaseCenterOffset(ITransformation baseCenterOffset) Deprecated. Sets the base center offset of the tool from it's base to it's defaultMotionFrame.
void	LoadData.setCenterOfMass(ITransformation centerOfMassMillimeter) Sets the center of mass for this object.
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.
void	StaticTransformationProvider.setTransformation(ITransformation transformation) Sets the Transformation.
void	Frame.setTransformationFromParent(ITransformation offsetFromParent)
protected void	AbstractFrame.setTransformationFromParent(ITransformation offsetFromParent) Sets the transformation of the frame.
Frame	Frame.transform(AbstractFrame reference, ITransformation offset) Transforms this frame relative to the given reference frame with the specified offset.
Frame	Frame.transform(ITransformation offset) Transforms this frame relative to itself with the specified offset.
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 ITransformation

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

Frame(ITransformation offset)
Creates a new frame with the World as parent and the given transformation from the world.

LoadData(double mass, ITransformation centerOfMass, Inertia inertia)
Creates a new instance.

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

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

ToolData(String name, double kilograms, ITransformation com, Inertia inertia, ITransformation baseCenterOffset)
Deprecated. Creates a new instance.

Uses of ITransformation in com.kuka.roboticsAPI.geometricModel.math

Classes in com.kuka.roboticsAPI.geometricModel.math that implement ITransformation

class	AbstractTransformation Represents a transformation in 3-dimensional space.
class	MatrixTransformation Immutable implementation of a spatial transformation in matrix form, that is the rotation part and the vector part of the homogeneous transformation matrix.
class	Transformation An immutable representation of a spatial transformation.
class	XyzAbcTransformation Immutable representation of a spatial transformation as a combination of x, y, z translational elements and α, β, γ (resp.

Methods in com.kuka.roboticsAPI.geometricModel.math that return ITransformation

ITransformation	ITransformation.compose(ITransformation other) If the transformations A and B are represented as homogeneous matrices, then the effect of A.compose(B) is that of the matrix multiplication A*B.
ITransformation	AbstractTransformation.compose(ITransformation other)
static ITransformation	MathUtils.defensiveCopy(ITransformation orig) Returns an immutable AbstractTransformation instance of the given transformation.
ITransformation	ITransformation.invert() Returns an inverted transformation, i.e. a transformation that reverses the effect of this one.
ITransformation	AbstractTransformation.invert()
ITransformation	ITransformation.transformationTo(ITransformation other) Calculates the transformation needed to move this transformation into the other transformation.
ITransformation	AbstractTransformation.transformationTo(ITransformation other)
ITransformation	AbstractTransformation.withRotation(IRotation rotation) Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation.
ITransformation	AbstractTransformation.withTranslation(Vector translation) Returns a new instance (copy) of the transformation, with the translational part replaced by the given translation.

Methods in com.kuka.roboticsAPI.geometricModel.math with parameters of type ITransformation

Transformation	Transformation.compose(ITransformation other)
ITransformation	ITransformation.compose(ITransformation other) If the transformations A and B are represented as homogeneous matrices, then the effect of A.compose(B) is that of the matrix multiplication A*B.
ITransformation	AbstractTransformation.compose(ITransformation other)
static ITransformation	MathUtils.defensiveCopy(ITransformation orig) Returns an immutable AbstractTransformation instance of the given transformation.
double	ITransformation.distanceTo(ITransformation other) Calculates the euclidean distance of the origin of this transformation to the origin of the given transformation.
double	AbstractTransformation.distanceTo(ITransformation other)
static boolean	MathUtils.elementEqual(ITransformation a, ITransformation b, double epsilon) Checks if two transformations are approximately equal.
static XyzAbcTransformation	XyzAbcTransformation.of(ITransformation orig) Returns an immutable XyzAbcTransformation instance with the same value as the given transformation.
static Transformation	Transformation.of(ITransformation orig) Returns an immutable Transformation instance with the same value as the given transformation.
static MatrixTransformation	MatrixTransformation.of(ITransformation orig) Returns an immutable MatrixTransformation instance with the same value as the given transformation.
double	ITransformation.rotationalDistanceTo(ITransformation other) Calculates the rotational distance from this transformation to the other transformation.
double	AbstractTransformation.rotationalDistanceTo(ITransformation other)
Transformation	Transformation.transformationTo(ITransformation other)
ITransformation	ITransformation.transformationTo(ITransformation other) Calculates the transformation needed to move this transformation into the other transformation.
ITransformation	AbstractTransformation.transformationTo(ITransformation other)

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

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

static double[]	PhysicsUtils.convertToEulerArrayDeg(ITransformation trans) Converts a transformation to an Euler Array with angles in degrees.
static double[]	PhysicsUtils.convertToEulerArrayRad(ITransformation trans) Converts a transformation to an Euler Array.

Uses of ITransformation in com.kuka.roboticsAPI.motionModel

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

static RelativeCIRC	BasicMotions.circRel(ITransformation transformation) Creates a relative CIRC motion.
static RelativeLIN	BasicMotions.linRel(ITransformation frameTransformation) Creates a relative LIN motion object.
static RelativeLIN	BasicMotions.linRel(ITransformation frameTransformation, AbstractFrame relativeFrame) Creates a relative LIN motion object, relative to a reference frame.

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

RelativeCIRC(ITransformation auxiliaryMatrix)
Creates a new relative CIRC motion with the given offset.

RelativeLIN(ITransformation offset)
Creates a new relative LIN motion.

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

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

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

void	ForceStopCondition.setReturnValues(ITransformation worldBase, ITransformation retVal, ITransformation flangeMeasureFrame) Sets the values when the stop condition hits.

Uses of ITransformation in com.kuka.roboticsAPI.persistenceModel

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

void	XmlApplicationDataSource.changeFrameTransformation(ObjectFrame frameToChange, ITransformation newTransformation) Changes the frame that belongs to the data source.

Uses of ITransformation in com.kuka.roboticsAPI.requestModel

Methods in com.kuka.roboticsAPI.requestModel with parameters of type ITransformation

void	GetBaseFlangeTransformationRequest.setResult(ITransformation result) Sets the result for this request.

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

GetInverseKinematicsFromReferenceRequest(Robot robot, ITransformation matrix, JointPosition correspondingJoints)
Creates a new request instance.