com.kuka.roboticsAPI.sensorModel
Class SensorForExternalForce

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<ForceSensorData>
                          com.kuka.roboticsAPI.sensorModel.SensorForExternalForce

All Implemented Interfaces:

com.kuka.common.ITaggable

public class SensorForExternalForce
extends Sensor<ForceSensorData>

A ForceSensor measures the force of the TCP of a specified LBR.

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

SensorForExternalForce(LBR lbr)
Creates a new force sensor.

Method Summary

protected GetForceSensorDataRequest	createRequest() Creates a GetSensorDataRequest for the sensor.
LBR	getLBR() Gets the LBR to which the sensor is connected.
ForceSensorData	getSensorData(AbstractFrame measureFrame, AbstractFrame orientationFrame) Gets the estimated force data for the specified frame.

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

addProcessor, deleteProcessor, deleteProcessors, getSensorData, processSensorData, refreshSensorData

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

SensorForExternalForce

public SensorForExternalForce(LBR lbr)

Creates a new force sensor.

Parameters:

lbr - The lbr to which the sensor is attached.

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

getLBR

public LBR getLBR()

Gets the LBR to which the sensor is connected.

Returns:

The LBR to which the sensor is connected.

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.

createRequest

protected GetForceSensorDataRequest createRequest()

Creates a GetSensorDataRequest for the sensor.

Overrides:

createRequest in class Sensor<ForceSensorData>

Returns:

The sensor specific request.

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.

getSensorData

public ForceSensorData getSensorData(AbstractFrame measureFrame,
                                     AbstractFrame orientationFrame)

Gets the estimated force data for the specified frame.

Note that the sensor value is only an estimation of the force. The included variance tells you how accurate the measurement is.

Parameters:

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.

Returns:

The measured ForceSensorData object.

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.