com.kuka.roboticsAPI.sensorModel
Class Sensor<T extends ISensorData<T>>

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.deviceModel.Device
                      com.kuka.roboticsAPI.sensorModel.Sensor<T>

Type Parameters:

T - type of the sensor data

All Implemented Interfaces:

com.kuka.common.ITaggable

Direct Known Subclasses:

SensorForExternalForce, SensorForExternalTorque, SensorForLbrTemperatures, SensorForMeasuredTorque

public abstract class Sensor<T extends ISensorData<T>>
extends Device

Base class for sensors. A sensor is a device providing some arbitrary sensor 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.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.deviceModel.Device

_hardwareVersion

Constructor Summary

protected

Sensor(Controller controller, String name) Creates a new sensor object.

Method Summary

void	addProcessor(ISensorDataProcessor<T> processor) Adds a data processor to this sensor.
protected GetSensorDataRequest<T>	createRequest() Creates a GetSensorDataRequest for the sensor.
void	deleteProcessor(ISensorDataProcessor<T> processor) Removes a data processor.
void	deleteProcessors() Deletes all registered data processors.
T	getSensorData() Gets a processed snapshot of the current sensor data.
protected T	processSensorData(T data) Processes the sensor data through additional data processors.
protected T	refreshSensorData() Refreshes the current sensor data.

Methods inherited from class com.kuka.roboticsAPI.deviceModel.Device

acquireCommandPermit, createDefaultsParameterSet, dispose, getContext, getController, getDefaults, getHardwareVersion, getUniqueName, initialize, isInitialized, onDispose, onInitialize, refreshHardwareVersion, releaseCommandPermit, setName

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getDefaultMotionFrame, getLoadData, move, move, moveAsync, moveAsync, setDefaultMotionFrame

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

Sensor

protected Sensor(Controller controller,
                 String name)

Creates a new sensor object.

Parameters:

controller - The controller to which this device belongs.

name - The name of the device.

Method Detail

getSensorData

public T getSensorData()

Gets a processed snapshot of the current sensor data. All registered data processors have processed the data before it is returned.

Returns:

A processed snapshot of the current sensor 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.

refreshSensorData

protected T refreshSensorData()

Refreshes the current sensor data.

Returns:

the request result

createRequest

protected GetSensorDataRequest<T> createRequest()

Creates a GetSensorDataRequest for the sensor.

Returns:

The sensor specific request.

processSensorData

protected T processSensorData(T data)

Processes the sensor data through additional data processors.

Parameters:

data - the data to be processed (might be changed)

Returns:

the processed data

deleteProcessors

public void deleteProcessors()

Deletes all registered data processors.

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.

addProcessor

public void addProcessor(ISensorDataProcessor<T> processor)

Adds a data processor to this sensor. The order of the processors is important because they are called one after other (processing-chain).

Parameters:

processor - The processor which should be added. null is not allowed.

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.

deleteProcessor

public void deleteProcessor(ISensorDataProcessor<T> processor)

Removes a data processor.

Parameters:

processor - The processor which should be removed. null is not allowed.

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.