Uses of Class
com.kuka.roboticsAPI.geometricModel.math.Transformation

Packages that use Transformation

com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
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.motionModel	Contains classes for describing motions.
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 Transformation in com.kuka.roboticsAPI.controllerModel.sunrise

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

Transformation	SunriseRequestService.getDeviceRoot(String deviceName) Return the kinematic root position in world.
static Transformation	SPRUtilities.getToolOffset(Robot robot, AbstractFrame defaultMotionFrame) Gets the transformation between the flange of the specified robot and its defaultMotionFrame point.

Uses of Transformation in com.kuka.roboticsAPI.geometricModel

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

Transformation	ToolData.getBaseCenterOffset() Deprecated. Gets the base center offset of the tool from it's base to it's motion center.
Transformation	LoadData.getCenterOfMass() Gets the center of mass.
Transformation	AbstractFrame.getTransformationFromParent() Gets the transformation from the reference frame (parent) to the frame itself.
Transformation	AbstractFrame.staticTransformationTo(AbstractFrame destination) Calculates the static transformation from this frame to the given destination frame.
Transformation	AbstractFrame.transformationFromWorld() Calculates the transformation from the world to the frame.
Transformation	AbstractFrame.transformationTo(AbstractFrame destination) Calculates the transformation from this frame to the given destination frame.

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

Fields in com.kuka.roboticsAPI.geometricModel.math declared as Transformation

static Transformation

Transformation.IDENTITY Immutable Transformation instance representing identity (i.e.

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

Transformation	Transformation.compose(ITransformation other)
Transformation	Transformation.invert()
static Transformation	Transformation.of(ITransformation orig) Returns an immutable Transformation instance with the same value as the given transformation.
static Transformation	Transformation.of(Vector translation, IRotation rotation) Returns an immutable Transformation instance, consisting of a rotational and a translational part.
static Transformation	Transformation.of(Vector translation, Matrix rotMatrix) Returns an immutable Transformation instance, consisting of a rotational and a translational part.
static Transformation	Transformation.ofDeg(double x, double y, double z, double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a translational and a rotational part.
static Transformation	Transformation.ofRad(double x, double y, double z, double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a translational and a rotational part.
static Transformation	Transformation.ofTranslation(double x, double y, double z) Returns an immutable Transformation instance, consisting of a translational part and no rotation.
static Transformation	Transformation.ofTranslation(Vector translation) Returns an immutable Transformation instance, consisting of a translational part and no rotation.
Transformation	Transformation.transformationTo(ITransformation other)
Transformation	Transformation.withAlphaRad(double value) Returns a new instance (copy) of the transformation, with the α (alpha) angle replaced by the new value.
Transformation	Transformation.withBetaRad(double value) Returns a new instance (copy) of the transformation, with the β (beta) angle replaced by the new value.
Transformation	Transformation.withGammaRad(double value) Returns a new instance (copy) of the transformation, with the γ (gamma) angle replaced by the new value.
Transformation	Transformation.withRotation(IRotation rotation)
Transformation	Transformation.withRotation(Matrix matrix) Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation in matrix form.
Transformation	Transformation.withRotationDeg(double alpha, double beta, double gamma) Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in degrees.
Transformation	Transformation.withRotationRad(double alpha, double beta, double gamma) Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in radians.
Transformation	Transformation.withTranslation(double x, double y, double z) Returns a new instance (copy) of the transformation, with the translational part replaced by the given three cartesian vector elements x, y, z.
Transformation	Transformation.withTranslation(Vector translation)
Transformation	Transformation.withX(double value) Returns a new instance (copy) of this transformation where the x element of the translation part of the is replaced by the given value.
Transformation	Transformation.withY(double value) Returns a new instance (copy) of this transformation where the y element of the translation part of the is replaced by the given value.
Transformation	Transformation.withZ(double value) Returns a new instance (copy) of this transformation where the z element of the translation part of the is replaced by the given value.

Uses of Transformation in com.kuka.roboticsAPI.motionModel

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

Transformation	RelativeCIRC.getAuxiliaryMatrix() Gets the auxiliary matrix for the CIRC motion.
Transformation	RelativeSplineMotionCP.getOffset() Gets the offset of the relative spline motion.

Uses of Transformation in com.kuka.roboticsAPI.persistenceModel

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

FrameTemplate

XmlApplicationDataSource.applyFrameTemplateMeasurement(FrameTemplate frameTemplate, Transformation newTransformation, MeasurementType measurementType, MeasurementMethod measurementMethod, Double calculationError, boolean doSave)

Uses of Transformation in com.kuka.roboticsAPI.requestModel

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

Transformation	GetBaseFlangeTransformationRequest.getResult() Gets the result of the request.
Transformation	GetInverseKinematicsFromReferenceRequest.getTransformation() Gets the matrix whose position should be transformed into a joint position.