com.kuka.roboticsAPI.sensorModel
Class TorqueSensorData

java.lang.Object
  com.kuka.roboticsAPI.sensorModel.AbstractSensorData<TorqueSensorData>
      com.kuka.roboticsAPI.sensorModel.TorqueSensorData

All Implemented Interfaces:

ISensorData<TorqueSensorData>

public final class TorqueSensorData
extends AbstractSensorData<TorqueSensorData>

The torque sensor data is a snapshot of torque values for a specific LBR. For an update, the sensor needs to be queried again.

Constructor Summary

TorqueSensorData(double[] torqueValues)
Creates a new torque sensor data instance with the given torque values.

Method Summary

double	getSingleTorqueValue(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Gets the torque values for specific axis.
double[]	getTorqueValues() Gets the torque values.
String	toString()

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

getTimestamp

Methods inherited from class java.lang.Object

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

Constructor Detail

TorqueSensorData

public TorqueSensorData(double[] torqueValues)

Creates a new torque sensor data instance with the given torque values.

Parameters:

torqueValues - The current torque values.

Method Detail

getTorqueValues

public double[] getTorqueValues()

Gets the torque values. Unit is Newton Meter (Nm). This method returns a new double array, where the first index (ordinal zero) corresponds to the first joint.

Returns:

The measured torque values. Unit is Newton Meter (Nm).

getSingleTorqueValue

public double getSingleTorqueValue(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Gets the torque values for specific axis. Unit is Newton Meter (Nm).

Parameters:

joint - The joint for which to query the current torque.

Returns:

The torque values. Unit is Newton Meter (Nm).

toString

public String toString()

Overrides:

toString in class Object