com.kuka.roboticsAPI.sensorModel
Class TorqueEvaluator

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

public class TorqueEvaluator
extends Object

Class for calculation of maximum absolute torque statistic. The available torques are measured torque and static model torque. Measured torque is the default configuration. The statistic data is being gathered from the moment of time when evaluation is started. When evaluation is stopped, the maximum absolute torque is returned including the validity information of statistic data.

See Also:

startEvaluation(), stopEvaluation()

Constructor Summary

TorqueEvaluator(LBR lbr)
Constructor.

Method Summary

Controller	getController() Gets the corresponding controller.
LBR	getLBR() Gets the LBR the torque statistic is gathered on.
boolean	isTorqueMeasured() Indicates if the torque is measured.
void	setTorqueMeasured(boolean isTorqueMeasured) Set the torque is, is not measured.
void	startEvaluation() Starts statistic data evaluation.
TorqueStatistic	stopEvaluation() Stops statistic data evaluation and returns the maximum absolute measured torque statistic for all joints.

Methods inherited from class java.lang.Object

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

Constructor Detail

TorqueEvaluator

public TorqueEvaluator(LBR lbr)

Constructor. If the provided LBR object is null, the IllegalArgumentException is thrown.

Parameters:

lbr - the LBR the torque statistic should be gathered on.

Method Detail

getController

public Controller getController()

Gets the corresponding controller.

Returns:

The corresponding controller.

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.

getLBR

public LBR getLBR()

Gets the LBR the torque statistic is gathered on.

Returns:

The LBR the torque statistic is gathered on.

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.

startEvaluation

public void startEvaluation()

Starts statistic data evaluation. If called when the evaluation is already running, the IllegalStateException is thrown.

stopEvaluation

public TorqueStatistic stopEvaluation()

Stops statistic data evaluation and returns the maximum absolute measured torque statistic for all joints. The result also contains the information whether the overall statistic data are valid or not.

Returns:

The maximum absolute measured torque statistic.

isTorqueMeasured

public boolean isTorqueMeasured()

Indicates if the torque is measured.

Returns:

True if the torque is measured; otherwise false.

setTorqueMeasured

public void setTorqueMeasured(boolean isTorqueMeasured)

Set the torque is, is not measured.

Parameters:

isTorqueMeasured - True for the torque is measured; otherwise false.