com.kuka.roboticsAPI.requestModel
Class GetAlphaInverseKinematicsFromReferenceRequest

java.lang.Object
  com.kuka.roboticsAPI.requestModel.AbstractRequest
      com.kuka.roboticsAPI.requestModel.AbstractDeviceRequest
          com.kuka.roboticsAPI.requestModel.GetAlphaInverseKinematicsFromReferenceRequest

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetAlphaInverseKinematicsFromReferenceRequest
extends AbstractDeviceRequest

Request to calculate the alpha inverse kinematics from reference.

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.

Constructor Summary

GetAlphaInverseKinematicsFromReferenceRequest(LBR lbr, AbstractFrame frame, JointPosition correspondingJoints, double alphaAngle)
Creates a new request instance.

Method Summary

double	getAlphaAngle() Get the alpha angle for the inverse kinematics.
JointPosition	getCorrespondingJoints() Gets the joint configuration for the given matrix.
Robot	getDevice() The device to which the request is issued.
AbstractFrame	getFrame() Gets the frame whose position should be transformed into a joint position.
JointPosition	getResult() Gets the result of the request.
void	setResult(JointPosition result) Sets the result for this request.

Methods inherited from class com.kuka.roboticsAPI.requestModel.AbstractRequest

hasResult, toString

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.requestModel.IRequest

hasResult

Constructor Detail

GetAlphaInverseKinematicsFromReferenceRequest

public GetAlphaInverseKinematicsFromReferenceRequest(LBR lbr,
                                                     AbstractFrame frame,
                                                     JointPosition correspondingJoints,
                                                     double alphaAngle)

Creates a new request instance.
For a given frame with corresponding joint angles and alpha angle the alpha inverse is calculated. The result is a joint position.

Parameters:

lbr - The LBR to which this request is issued.

frame - The frame for which the alpha inverse is calculated.

correspondingJoints - The joint configuration for which the alpha inverse is calculated (e.g. the robot's current position)

alphaAngle - The redundancy parameter alpha for the inverse kinematics (in radians)

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 Detail

getDevice

public Robot getDevice()

The device to which the request is issued.

Specified by:

getDevice in interface IDeviceRequest

Overrides:

getDevice in class AbstractDeviceRequest

Returns:

The device to which the request is issued.

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.

setResult

public void setResult(JointPosition result)

Sets the result for this request.

Parameters:

result - The result for this request.

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.

getResult

public JointPosition getResult()

Gets the result of the request.

Returns:

The result of the request.

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.

getFrame

public AbstractFrame getFrame()

Gets the frame whose position should be transformed into a joint position.

Returns:

The frame whose position should be transformed into a joint position.

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.

getCorrespondingJoints

public JointPosition getCorrespondingJoints()

Gets the joint configuration for the given matrix.

Returns:

The joint configuration for the given matrix.

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.

getAlphaAngle

public double getAlphaAngle()

Get the alpha angle for the inverse kinematics.

Returns:

The alpha angle (in radians).