com.kuka.roboticsAPI.requestModel
Class GetTorqueStateRequest

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

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetTorqueStateRequest
extends AbstractDeviceRequest

Requests the current state of a torque sensor.

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.

Nested Class Summary

static class

GetTorqueStateRequest.ETorqueState Specifies the different states of a torque sensor.

Constructor Summary

GetTorqueStateRequest(LBR lbr, com.kuka.roboticsAPI.deviceModel.JointEnum joint)
Creates a new request to determine the torque sensor state.

Method Summary

com.kuka.roboticsAPI.deviceModel.JointEnum	getJointIndex() Returns the index of the axis on which the torque sensor is fixed.
GetTorqueStateRequest.ETorqueState	getResult() Gets the result of the request.
boolean	hasResult() Returns true if getResult is not null.
void	setTorqueState(GetTorqueStateRequest.ETorqueState torqueSensorState) Saves the state of the torque sensor.

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

getDevice

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

toString

Methods inherited from class java.lang.Object

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

Constructor Detail

GetTorqueStateRequest

public GetTorqueStateRequest(LBR lbr,
                             com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Creates a new request to determine the torque sensor state.

Parameters:

lbr - The device on which the torque sensor is fixed.

joint - The index of the axis on which the torque sensor is fixed.

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

hasResult

public boolean hasResult()

Description copied from class: AbstractRequest

Returns true if getResult is not null. May be overridden by subclasses to determine if the request has a result in a different way.

Specified by:

hasResult in interface IRequest

Overrides:

hasResult in class AbstractRequest

Returns:

True if the request has a result.

getResult

public GetTorqueStateRequest.ETorqueState getResult()

Description copied from interface: IRequest

Gets the result of the request.

Returns:

The result of the request.

getJointIndex

public com.kuka.roboticsAPI.deviceModel.JointEnum getJointIndex()

Returns the index of the axis on which the torque sensor is fixed.

Returns:

The index of the axis on which the torque sensor is fixed.

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.

setTorqueState

public void setTorqueState(GetTorqueStateRequest.ETorqueState torqueSensorState)

Saves the state of the torque sensor.

Parameters:

torqueSensorState - The state of the torque sensor.

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.