com.kuka.roboticsAPI.requestModel
Class GetInverseKinematicsFromFrameAndRedundancyRequest

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

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetInverseKinematicsFromFrameAndRedundancyRequest
extends AbstractDeviceRequest

Request for a robot to calculate a inverse kinematics from a frame with redundancy information.

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

GetInverseKinematicsFromFrameAndRedundancyRequest(Robot robot, AbstractFrame frame)
Creates a new request instance.

Method Summary

Robot	getDevice() The device to which the request is issued.
AbstractFrame	getFrame() Gets the frame.
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

GetInverseKinematicsFromFrameAndRedundancyRequest

public GetInverseKinematicsFromFrameAndRedundancyRequest(Robot robot,
                                                         AbstractFrame frame)

Creates a new request instance.

Parameters:

robot - The robot to which this request is issued.

frame - The frame, for which the inverse kinematics should be computed.

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()

Description copied from class: AbstractDeviceRequest

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.

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()

Description copied from interface: IRequest

Gets the result of the request.

Returns:

The result of the request.

getFrame

public AbstractFrame getFrame()

Gets the frame.

Returns:

The frame.