com.kuka.roboticsAPI.geometricModel.physics
Class PhysicsUtils

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.physics.PhysicsUtils

public final class PhysicsUtils
extends Object

Utility class for physics calculations.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Summary

static LoadData	calculateLoadData(ObjectFrame reference) Calculates the load data (mass center, inertia and mass) of all attached objects of the given reference frame.
static Vector	combinedCenterOfMass(double mass1, Vector com1, double mass2, Vector com2) Calculates the combined center of mass of two objects.
static double[]	convertToArrayDeg(LoadData loadData) Gets the load data values as new double array.
static double[]	convertToArrayRad(LoadData loadData) Gets the load data values as new double array.
static double[]	convertToEulerArrayDeg(ITransformation trans) Converts a transformation to an Euler Array with angles in degrees.
static double[]	convertToEulerArrayRad(ITransformation trans) Converts a transformation to an Euler Array.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

calculateLoadData

public static LoadData calculateLoadData(ObjectFrame reference)

Calculates the load data (mass center, inertia and mass) of all attached objects of the given reference frame. The parent object of the given frame is not included in the calculations.

Parameters:

reference - The reference frame.

Returns:

The load data object.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

combinedCenterOfMass

public static Vector combinedCenterOfMass(double mass1,
                                          Vector com1,
                                          double mass2,
                                          Vector com2)

Calculates the combined center of mass of two objects. The combined mass must not be equal or near to zero.

Parameters:

mass1 - Mass of object 1 in [kg]

com1 - Center of mass translation of object 1

mass2 - Mass of object 2 in [kg]

com2 - Center of mass translation of object 2

Returns:

Combined center of mass translation

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

convertToEulerArrayRad

public static double[] convertToEulerArrayRad(ITransformation trans)

Converts a transformation to an Euler Array.

Parameters:

trans - Transformation to convert

Returns:

Double Array of atomic transformation values: x,y,z,a,b,c.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

convertToEulerArrayDeg

public static double[] convertToEulerArrayDeg(ITransformation trans)

Converts a transformation to an Euler Array with angles in degrees.

Parameters:

trans - Transformation to convert.

Returns:

Double Array of atomar transformation values: x,y,z,a,b,c. Attention: The angle values in this array are in degrees!!!

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

convertToArrayRad

public static double[] convertToArrayRad(LoadData loadData)

Gets the load data values as new double array. Angle values are in radians.

Parameters:

loadData - load data to convert

Returns:

A new double array (0: Mass, 1..6: Center of Mass (X,Y,Z,A,B,C), 7..9: Inertia (X,Y,Z))

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

convertToArrayDeg

public static double[] convertToArrayDeg(LoadData loadData)

Gets the load data values as new double array. Angle values are in degrees.

Parameters:

loadData - load data to convert

Returns:

A new double array (0: Mass, 1..6: Center of Mass (X,Y,Z,A,B,C), 7..9: Inertia (X,Y,Z)) Attention: The angle values in this array are in degrees!!!

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.