com.kuka.roboticsAPI.sensorModel
Class ForceSensorData

java.lang.Object
  com.kuka.roboticsAPI.sensorModel.AbstractSensorData<ForceSensorData>
      com.kuka.roboticsAPI.sensorModel.ForceSensorData

All Implemented Interfaces:

ISensorData<ForceSensorData>

public final class ForceSensorData
extends AbstractSensorData<ForceSensorData>

This class provides the estimated external force respectively torque in a specific coordinate frame.

Constructor Summary

ForceSensorData(Vector force, Vector torque, Vector forceInaccuracy, Vector torqueInaccuracy)
Creates a new immutable instance of this type.

Method Summary

Vector	getForce() Returns the estimated external force; vector with components X, Y and Z.
Vector	getForceInaccuracy() Returns the estimated standard deviation of the external force; vector with components X, Y and Z.
Vector	getTorque() Returns the estimated external torque; vector with components X, Y and Z.
Vector	getTorqueInaccuracy() Returns the estimated standard deviation of the external torque; vector with components X, Y and Z.
boolean	isForceValid(double tolerance) Validates the estimated standard deviation of the external force against a definable tolerance value.
boolean	isTorqueValid(double tolerance) Validates the estimated standard deviation of the external torque against a definable tolerance value.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.sensorModel.AbstractSensorData

getTimestamp

Methods inherited from class java.lang.Object

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

Constructor Detail

ForceSensorData

public ForceSensorData(Vector force,
                       Vector torque,
                       Vector forceInaccuracy,
                       Vector torqueInaccuracy)

Creates a new immutable instance of this type.

Parameters:

force - the estimated external force; vector with components X, Y and Z

torque - the estimated external torque; vector with components X, Y and Z

forceInaccuracy - the estimated standard deviation of the external force; vector with components X, Y and Z. The estimate has been computed taking into account the position of the robot and an estimate of the standard deviation of the estimated external torque. The estimated force is supposed to be the less accurate, the larger the estimate of the standard deviation of the external force is.

torqueInaccuracy - the estimated standard deviation of the external torque; vector with components X, Y and Z. The estimate has been computed taking into account the position of the robot and an estimate of the standard deviation of the estimated external torque. The estimated torque is supposed to be the less accurate, the larger the estimate of the standard deviation of the external torque is.

Method Detail

isForceValid

public boolean isForceValid(double tolerance)

Validates the estimated standard deviation of the external force against a definable tolerance value.

Parameters:

tolerance - represents the maximum tolerance value (in [N]) above which the force becomes invalid

Returns:

true, if all components X, Y and Z of the estimated standard deviation of the external force are less than the tolerance value
false, if at least one component is greater than the tolerance value

isTorqueValid

public boolean isTorqueValid(double tolerance)

Validates the estimated standard deviation of the external torque against a definable tolerance value.

Parameters:

tolerance - represents the maximum tolerance value (in [Nm]) above which the torque becomes invalid

Returns:

true, if all components X, Y and Z of the estimated standard deviation of the external torque are less than the tolerance value
false, if at least one component is greater than the tolerance value

getForce

public Vector getForce()

Returns the estimated external force; vector with components X, Y and Z.

Returns:

the estimated external force

getTorque

public Vector getTorque()

Returns the estimated external torque; vector with components X, Y and Z.

Returns:

the estimated external torque

getForceInaccuracy

public Vector getForceInaccuracy()

Returns the estimated standard deviation of the external force; vector with components X, Y and Z. The estimate has been computed taking into account the position of the robot and an estimate of the standard deviation of the estimated external torque. The estimated force is supposed to be the less accurate, the larger the estimate of the standard deviation of the external force is.

Returns:

the estimated standard deviation of the external force

getTorqueInaccuracy

public Vector getTorqueInaccuracy()

Returns the estimated standard deviation of the external torque; vector with components X, Y and Z. The estimate has been computed taking into account the position of the robot and an estimate of the standard deviation of the estimated external torque. The estimated torque is supposed to be the less accurate, the larger the estimate of the standard deviation of the external torque is.

Returns:

the estimated standard deviation of the external torque

toString

public String toString()

Overrides:

toString in class Object