com.kuka.roboticsAPI.sensorModel
Class GetForceSensorDataRequest

java.lang.Object
  com.kuka.roboticsAPI.requestModel.AbstractRequest
      com.kuka.roboticsAPI.requestModel.AbstractDeviceRequest
          com.kuka.roboticsAPI.sensorModel.GetSensorDataRequest<ForceSensorData>
              com.kuka.roboticsAPI.sensorModel.GetForceSensorDataRequest

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetForceSensorDataRequest
extends GetSensorDataRequest<ForceSensorData>

Request class to request the current force at a specified 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.

Constructor Summary

GetForceSensorDataRequest(SensorForExternalForce sensor, AbstractFrame measureFrame, AbstractFrame orientationFrame)
Creates a new GetForceSensorDataRequest instance.

Method Summary

SensorForExternalForce	getDevice() The device to which the request is issued.
AbstractFrame	getMeasureFrame() Gets the frame at which the force should be measured.
AbstractFrame	getOrientationFrame() Gets the orientation frame.

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

getResult, setResult

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

GetForceSensorDataRequest

public GetForceSensorDataRequest(SensorForExternalForce sensor,
                                 AbstractFrame measureFrame,
                                 AbstractFrame orientationFrame)

Creates a new GetForceSensorDataRequest instance.

Parameters:

sensor - The sensor.

measureFrame - The frame where the measurement will take place. This frame must be statically attached to a device that can measure forces (such as an LBR). If an orientationFrame is given, the orientation of the frame is not important.

orientationFrame - Optional frame that specifies the orientation of the coordinate axes used in this condition. May be any frame for which a path from the measureFrame can be calculated at runtime; for example a frame connected to World. The location of the frame in space is not important. If null, the orientation will be that of the measureFrame.

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 SensorForExternalForce getDevice()

The device to which the request is issued.

Specified by:

getDevice in interface IDeviceRequest

Overrides:

getDevice in class GetSensorDataRequest<ForceSensorData>

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.

getMeasureFrame

public AbstractFrame getMeasureFrame()

Gets the frame at which the force should be measured.

Returns:

The frame at which the force should be measured.

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.

getOrientationFrame

public AbstractFrame getOrientationFrame()

Gets the orientation frame.

Returns:

The orientation frame.