Package com.kuka.roboticsAPI.geometricModel

Contains classes describing geometric relations between objects.

See:
Description

Interface Summary

ITransformationProvider

A transformation provider returns a current transformation for a frame.

Class Summary

AbstractFrame	Base class for frames.
AdditionalData	Container for frame data objects.
Frame	Represents a frame whose transformation can be manipulated directly.
LoadData	LoadData represents the load of a single physical object.
ObjectFrame	Base class for all frames that belong to spatial objects.
PhysicalObject	A physical object represents something which has a physical representation in the world.
SceneGraphObject	Base class for all objects that build up the scene graph.
SceneGraphObjectFactory	Factory that creates instances of specific SpatialObject classes out of TemplateElements.
SceneGraphObjectNameGenerator	Singleton that is intended to create unique names for SceneGraph object instances.
SceneGraphUtilities	Utility class for SceneGraph operations.
SpatialObject	A spatial object describes a geometric area.
StaticTransformationProvider	Transformation provider that just stores the reference to a ITransformation.
Tool	A tool is an object that can be attached to the robot.
ToolData	Deprecated. use templates instead
ToolUtilities	Helper class which implements some additional methods that are needed on Tools and PhysicalObjects.
TreeUtilities	Helper class which implements the transformation calculation between two frames in the frame-tree.
Workpiece	A work piece is something on which a robot performs actions.
World	The world is a special scene graph object which represents the origin of the scene graph.

Enum Summary

CartDOF	This class represents degrees of freedom and sets of translational and rotational degrees of freedom.
CartPlane	This class represents planes in the Cartesian space.

Exception Summary

PathNotFoundException

This exception is fired when someone tried to calculate a transformation between two frames, and no path between these frames was found.

Package com.kuka.roboticsAPI.geometricModel Description

Contains classes describing geometric relations between objects.