com.kuka.roboticsAPI.sensorModel
Class TorqueStatistic

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

public final class TorqueStatistic
extends Object

This immutable class contains torque statistic data over a period of time.

Constructor Summary

TorqueStatistic(double[] torqueValues, Date startTime, Date stopTime, boolean areDataValid, boolean isTorqueMeasured)
Creates a new torque statistic data instance with the given torque values.

Method Summary

boolean	areDataValid() Provides the information whether the statistic data are valid or not.
double[]	getMaxAbsTorqueValues() Provides the maximum absolute torque values.
double	getSingleMaxAbsTorqueValue(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Gets the maximum absolute torque value for specific axis.
Date	getStartTimestamp() Provides the timestamp for start of statistic data evaluation.
Date	getStopTimestamp() Provides the timestamp for end of statistic data evaluation.
boolean	isTorqueMeasured() Indicates if the torque is measured.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

TorqueStatistic

public TorqueStatistic(double[] torqueValues,
                       Date startTime,
                       Date stopTime,
                       boolean areDataValid,
                       boolean isTorqueMeasured)

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

Parameters:

torqueValues - the torque statistic values.

startTime - the timestamp for start of evaluation.

stopTime - the timestamp for end of evaluation.

areDataValid - true if contained statistic data are valid, false otherwise.

isTorqueMeasured - true if the torque is measured; otherwise false.

Method Detail

getStartTimestamp

public Date getStartTimestamp()

Provides the timestamp for start of statistic data evaluation.

Returns:

The timestamp for start of evaluation (with millisecond precision).

getStopTimestamp

public Date getStopTimestamp()

Provides the timestamp for end of statistic data evaluation.

Returns:

The timestamp for end of evaluation (with millisecond precision).

areDataValid

public boolean areDataValid()

Provides the information whether the statistic data are valid or not.

Returns:

true if contained statistic data are valid, false otherwise.

getMaxAbsTorqueValues

public double[] getMaxAbsTorqueValues()

Provides the maximum absolute 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 maximum absolute torque values in [Nm].

getSingleMaxAbsTorqueValue

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

Gets the maximum absolute torque value for specific axis. Unit is Newton Meter (Nm).

Parameters:

joint - the joint for which the maximum absolute torque is desired.

Returns:

The maximum absolute torque values in [Nm].

isTorqueMeasured

public boolean isTorqueMeasured()

Indicates if the torque is measured.

Returns:

True if the torque is measured; otherwise false.

toString

public String toString()

Overrides:

toString in class Object