com.kuka.roboticsAPI.sensorModel
Class SensorForMeasuredTorque

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.SensorForMeasuredTorque

All Implemented Interfaces:

com.kuka.common.ITaggable

public class SensorForMeasuredTorque
extends Sensor<TorqueSensorData>

A torque sensor is able to measure the measured ("raw") torque for a specific LBR.

Field Summary

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

_hardwareVersion

Constructor Summary

SensorForMeasuredTorque(LBR lbr)
Creates a new sensor for measured ("raw") torque.

Method Summary

LBR	getLBR() Gets the LBR to which this measured torque sensor 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

SensorForMeasuredTorque

public SensorForMeasuredTorque(LBR lbr)

Creates a new sensor for measured ("raw") 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 measured torque sensor is attached.

Returns:

The LBR to which this measured torque sensor is attached.