com.kuka.roboticsAPI.sensorModel
Class SensorForExternalTorque

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<TorqueSensorData>
                          com.kuka.roboticsAPI.sensorModel.SensorForExternalTorque

All Implemented Interfaces:

com.kuka.common.ITaggable

public class SensorForExternalTorque
extends Sensor<TorqueSensorData>

A torque sensor is able to measure the external torque for a specific LBR.

Field Summary

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

_hardwareVersion

Constructor Summary

SensorForExternalTorque(LBR lbr)
Creates a new sensor for external torque.

Method Summary

LBR	getLBR() Gets the LBR to which this sensor for external torque is attached.

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

addProcessor, createRequest, 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

SensorForExternalTorque

public SensorForExternalTorque(LBR lbr)

Creates a new sensor for external torque.

Parameters:

lbr - The robot for which the sensor data should be gathered.

Method Detail

getLBR

public LBR getLBR()

Gets the LBR to which this sensor for external torque is attached.

Returns:

The LBR to which this torque sensor is attached.