com.kuka.roboticsAPI.sensorModel
Class JointTorqueInformation

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

public class JointTorqueInformation
extends Object

Provides information of the joint torques of a device.

Constructor Summary

JointTorqueInformation(Robot lbr, boolean flagIntExt)
Creates a new instance of type CartesianForceTorqueInformation with given measure Frame and orientation Frame.

Method Summary

boolean	getFlag() Gets the flag to distinguish between internal or external torques.
Robot	getRobot() Gets the robot whose torque measurement will be recorded.

Methods inherited from class java.lang.Object

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

Constructor Detail

JointTorqueInformation

public JointTorqueInformation(Robot lbr,
                              boolean flagIntExt)

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

Parameters:

lbr - The robot whose joint torque measurement will be recorded. Null is not allowed.

flagIntExt - Flag to distinguish between internal or external torques. True means external torques, false means internal torques

Method Detail

getRobot

public Robot getRobot()

Gets the robot whose torque measurement will be recorded.

Returns:

the robot torque measurement will be recorded.

getFlag

public boolean getFlag()

Gets the flag to distinguish between internal or external torques.

Returns:

true if the corresponding torques are external, false if the corresponding torques are internal.