com.kuka.roboticsAPI.sensorModel
Class RecorderConfiguration

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

public class RecorderConfiguration
extends Object

Provides information about the configuration of the data recorder.

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

RecorderConfiguration()

Method Summary

void	addCartesianForceConfiguration(CartesianForceTorqueInformation forceData) Adds Cartesian force.
void	addCartesianTorqueConfiguration(CartesianForceTorqueInformation torqueData) Adds Cartesian torque.
void	addCommandedCartesianPositionConfiguration(CartesianPositionInformation cartPosInfo) Adds the commanded Cartesian position.
void	addCommandedJointPosition(Robot robot, boolean inDegree) Adds the commanded joint position.
void	addCurrentCartesianPositionConfiguration(CartesianPositionInformation cartPosInfo) Adds the current Cartesian position.
void	addCurrentJointPosition(Robot robot, boolean inDegree) Adds the current joint position.
void	addExternalJointTorque(Robot robot) Adds external joint torques.
void	addInternalJointTorque(Robot robot) Adds internal joint torques.
List<CartesianForceTorqueInformation>	getCartesianForceConfiguration() Gets the list of measure and orientation frame where the "Cartesian force data recorder" was added.
List<CartesianForceTorqueInformation>	getCartesianTorqueConfiguration() Gets the list of measure and orientation frame where the "Cartesian torque data recorder" was added.
List<CartesianPositionInformation>	getCommandedCartesianPositionConfiguration() Gets the list of commanded Cartesian position configuration.
List<Robot>	getCommandedJointPosition() Gets the list of commanded joint position configuration.
List<CartesianPositionInformation>	getCurrentCartesianPositionConfiguration() Gets the list of current Cartesian position configuration.
List<Robot>	getCurrentJointPosition() Gets the list of current joint position configuration.
String	getFileName() Returns the file name.
List<Robot>	getRobotForExeternalJointTorque() Gets the list of robots for external joint torque configuration.
List<Robot>	getRobotForInternalJointTorque() Gets the list of robots for internal joint torque configuration.
int	getSampleInterval() Gets the sample interval in [ms].
int	getTimeoutMillisecs() Gets the timeout in [ms].
boolean	isAngleUnitForCommandedJointPositionDegree() Gets the angle unit for the commanded joint position.
boolean	isAngleUnitForCurrentJointPositionDegree() Gets the angle unit for the current joint position.
void	setFileName(String fileName) Sets the file name.
void	setSampleInterval(int sampleInterval) Sets the sample Interval.
void	setTimeOutMilliSecs(int timeoutMiliSecs) Set the timeout in milliseconds.

Methods inherited from class java.lang.Object

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

Constructor Detail

RecorderConfiguration

public RecorderConfiguration()

Method Detail

addCartesianForceConfiguration

public void addCartesianForceConfiguration(CartesianForceTorqueInformation forceData)

Adds Cartesian force.

Parameters:

forceData - the cartesianForceTorqueInformation.

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.

addCartesianTorqueConfiguration

public void addCartesianTorqueConfiguration(CartesianForceTorqueInformation torqueData)

Adds Cartesian torque.

Parameters:

torqueData - the cartesianForceTorqueInformation.

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.

addInternalJointTorque

public void addInternalJointTorque(Robot robot)

Adds internal joint torques.

Parameters:

robot - the robot.

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.

addExternalJointTorque

public void addExternalJointTorque(Robot robot)

Adds external joint torques.

Parameters:

robot - the robot.

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.

addCurrentCartesianPositionConfiguration

public void addCurrentCartesianPositionConfiguration(CartesianPositionInformation cartPosInfo)

Adds the current Cartesian position.

Parameters:

cartPosInfo - the Cartesian position information.

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.

addCommandedCartesianPositionConfiguration

public void addCommandedCartesianPositionConfiguration(CartesianPositionInformation cartPosInfo)

Adds the commanded Cartesian position.

Parameters:

cartPosInfo - the Cartesian position information.

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.

addCurrentJointPosition

public void addCurrentJointPosition(Robot robot,
                                    boolean inDegree)

Adds the current joint position.

Parameters:

robot - the robot.

inDegree - the angle unit configuration. true if values should be recorded in degree, false if values should be recorded in radiant.

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.

addCommandedJointPosition

public void addCommandedJointPosition(Robot robot,
                                      boolean inDegree)

Adds the commanded joint position.

Parameters:

robot - the robot.

inDegree - the angle unit configuration. true if values should be recorded in degree, false if values should be recorded in radiant.

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.

setTimeOutMilliSecs

public void setTimeOutMilliSecs(int timeoutMiliSecs)

Set the timeout in milliseconds.

Parameters:

timeoutMiliSecs - the timeout in [ms].

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.

setSampleInterval

public void setSampleInterval(int sampleInterval)

Sets the sample Interval.

Parameters:

sampleInterval - the sample Interval

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.

getCommandedCartesianPositionConfiguration

public List<CartesianPositionInformation> getCommandedCartesianPositionConfiguration()

Gets the list of commanded Cartesian position configuration.

Returns:

List of AbstractFrame.

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.

getCurrentCartesianPositionConfiguration

public List<CartesianPositionInformation> getCurrentCartesianPositionConfiguration()

Gets the list of current Cartesian position configuration.

Returns:

List of current Cartesian position configuration.

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.

getCartesianTorqueConfiguration

public List<CartesianForceTorqueInformation> getCartesianTorqueConfiguration()

Gets the list of measure and orientation frame where the "Cartesian torque data recorder" was added.

Returns:

The list of Cartesian torque data.

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.

getCartesianForceConfiguration

public List<CartesianForceTorqueInformation> getCartesianForceConfiguration()

Gets the list of measure and orientation frame where the "Cartesian force data recorder" was added.

Returns:

The list of Cartesian force data.

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.

getCurrentJointPosition

public List<Robot> getCurrentJointPosition()

Gets the list of current joint position configuration.

Returns:

The list of current joint position configuration.

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.

getCommandedJointPosition

public List<Robot> getCommandedJointPosition()

Gets the list of commanded joint position configuration.

Returns:

The list of commanded joint position configuration.

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.

getRobotForExeternalJointTorque

public List<Robot> getRobotForExeternalJointTorque()

Gets the list of robots for external joint torque configuration.

Returns:

The list of external joint torque configuration.

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.

getRobotForInternalJointTorque

public List<Robot> getRobotForInternalJointTorque()

Gets the list of robots for internal joint torque configuration.

Returns:

The list of internal joint torque configuration.

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.

isAngleUnitForCommandedJointPositionDegree

public boolean isAngleUnitForCommandedJointPositionDegree()

Gets the angle unit for the commanded joint position.

Returns:

true if angle unit for commanded joint position is degree, false if angle unit for commanded joint position is radiant.

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.

isAngleUnitForCurrentJointPositionDegree

public boolean isAngleUnitForCurrentJointPositionDegree()

Gets the angle unit for the current joint position.

Returns:

true if angle unit for current joint position is degree, false if angle unit for current joint position is radiant.

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.

setFileName

public void setFileName(String fileName)

Sets the file name.

Parameters:

fileName - The file name.

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.

getFileName

public String getFileName()

Returns the file name.

Returns:

The file name.

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.

getTimeoutMillisecs

public int getTimeoutMillisecs()

Gets the timeout in [ms].

Returns:

The timeout in milliseconds.

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.

getSampleInterval

public int getSampleInterval()

Gets the sample interval in [ms].

Returns:

The sample interval.

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.