com.kuka.roboticsAPI.sensorModel
Class CartesianForceTorqueInformation

java.lang.Object
  com.kuka.roboticsAPI.sensorModel.CartesianForceTorqueInformation

public class CartesianForceTorqueInformation
extends Object

Provides information of the Cartesian Force and Torque of a device.

Constructor Summary

CartesianForceTorqueInformation(AbstractFrame measureFrame, AbstractFrame orientationFrame)
Creates a new instance of type CartesianForceTorqueInformation with given measure Frame and orientation Frame.

Method Summary

AbstractFrame	getMeasureFrame() Gets the measure frame in which the Cartesian force/torque will be measured.
AbstractFrame	getOrientationFrame() Gets the orientation frame in which the Cartesian force/torque will be measured.
boolean	hasMeasureAndOrientFrame() True if measure and orientation frames are stored in this information set, false otherwise.

Methods inherited from class java.lang.Object

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

Constructor Detail

CartesianForceTorqueInformation

public CartesianForceTorqueInformation(AbstractFrame measureFrame,
                                       AbstractFrame orientationFrame)

Creates a new instance of type CartesianForceTorqueInformation with given measure Frame and orientation Frame.

Parameters:

measureFrame - The frame where the force/torque measurement will take place. This frame must be statically attached to a device which can measure forces (such as an LBR). null is not allowed.

orientationFrame - Optional frame that specifies the orientation where the force/torque measurement will take place. May be any frame for which a path from measureFrame can be calculated at runtime; for example a frame connected to World. If orientationFrame is set to null, the orientation of measureFrame is used.

Method Detail

getMeasureFrame

public AbstractFrame getMeasureFrame()

Gets the measure frame in which the Cartesian force/torque will be measured.

Returns:

the measure frame of the information set.

getOrientationFrame

public AbstractFrame getOrientationFrame()

Gets the orientation frame in which the Cartesian force/torque will be measured.

Returns:

the orientation frame of the information set.

hasMeasureAndOrientFrame

public boolean hasMeasureAndOrientFrame()

True if measure and orientation frames are stored in this information set, false otherwise.

Returns:

True if measure and orientation frames are stored in this information set, false otherwise.