A C D E F G H I J L M N O P Q R S T U V W X Z

A

AbstractRotation - Class in com.kuka.math.geometry
Abstract representation of a rotation in 3-dimensional space.
AbstractRotation() - Constructor for class com.kuka.math.geometry.AbstractRotation
 
AbstractTransformation - Class in com.kuka.math.geometry
Represents a transformation in 3-dimensional space.
AbstractTransformation() - Constructor for class com.kuka.math.geometry.AbstractTransformation
 
add(Matrix) - Method in class com.kuka.math.geometry.Matrix
Adds the given matrix to this one.
add(Vector3D) - Method in class com.kuka.math.geometry.Point3D
Adds the given vector to this point, resulting in a new point.
add(Vector3D) - Method in class com.kuka.math.geometry.Vector3D
Adds the given vector to the values of this vector.
add(InertiaTensor) - Method in class com.kuka.math.physics.InertiaTensor
Adds the inertia in this tensor to the other tensor's values and returns a new instance of an InertiaTensor.
addBooleanParameter(String, Boolean) - Method in class com.kuka.parameters.user.internal.UserParameters
Adds a new boolean parameter to the collection.
addBooleanParameter(String, Boolean) - Method in interface com.kuka.parameters.user.IUserParameters
Adds a new boolean parameter to the collection.
addDoubleParameter(String, Double) - Method in class com.kuka.parameters.user.internal.UserParameters
Adds a new double parameter to the collection.
addDoubleParameter(String, Double) - Method in interface com.kuka.parameters.user.IUserParameters
Adds a new double parameter to the collection.
addIntParameter(String, Integer) - Method in class com.kuka.parameters.user.internal.UserParameters
Adds a new integer parameter to the collection.
addIntParameter(String, Integer) - Method in interface com.kuka.parameters.user.IUserParameters
Adds a new integer parameter to the collection.
addLongParameter(String, Long) - Method in class com.kuka.parameters.user.internal.UserParameters
Adds a new long parameter to the collection.
addLongParameter(String, Long) - Method in interface com.kuka.parameters.user.IUserParameters
Adds a new long parameter to the collection.
addStringParameter(String, String) - Method in class com.kuka.parameters.user.internal.UserParameters
Adds a new string parameter to the collection.
addStringParameter(String, String) - Method in interface com.kuka.parameters.user.IUserParameters
Adds a new string parameter to the collection.
alignAxes(Frame, CoordinateAxis, Frame, CoordinateDirection) - Static method in class com.kuka.geometry.FrameUtils
Changes the orientation of the given frame by aligning its specified axis with an axis direction of the reference frame.
alignAxisWithPlane(Frame, CoordinateAxis, Frame, CoordinatePlane) - Static method in class com.kuka.geometry.FrameUtils
Changes the orientation of the given frame by aligning its specified axis with a plane of the reference frame.
alignXAxes(Frame, Frame) - Static method in class com.kuka.geometry.FrameUtils
Changes the orientation of the given frame by aligning its X axis with the X axis of the reference frame.
alignYAxes(Frame, Frame) - Static method in class com.kuka.geometry.FrameUtils
Changes the orientation of the given frame by aligning its Y axis with the Y axis of the reference frame.
alignZAxes(Frame, Frame) - Static method in class com.kuka.geometry.FrameUtils
Changes the orientation of the given frame by aligning its Z axis with the Z axis of the reference frame.
and(ICondition, ICondition...) - Method in interface com.kuka.condition.ICondition
Links two or more conditions using an AND relation.
angleRad(Vector3D) - Method in class com.kuka.math.geometry.Vector3D
Calculates the smallest angle between this and the other vector.
append(IMotion) - Method in interface com.kuka.motion.IMotionContainer
Appends a motion to the executing motions.
applyTo(Vector3D) - Method in class com.kuka.math.geometry.AbstractRotation
 
applyTo(Point3D) - Method in class com.kuka.math.geometry.AbstractRotation
 
applyTo(Vector3D) - Method in class com.kuka.math.geometry.AbstractTransformation
 
applyTo(Point3D) - Method in class com.kuka.math.geometry.AbstractTransformation
 
applyTo(Vector3D) - Method in interface com.kuka.math.geometry.IRotation
Applies this rotation to the given vector.
applyTo(Point3D) - Method in interface com.kuka.math.geometry.IRotation
Applies this rotation to the given point, i.e. rotates the point around the origin of its coordinate system.
applyTo(Vector3D) - Method in interface com.kuka.math.geometry.ITransformation
Applies this transformation to the given vector.
applyTo(Point3D) - Method in interface com.kuka.math.geometry.ITransformation
Applies this transformation to the given point.
attachTo(ObjectFrame) - Method in class com.kuka.geometry.SpatialObject
Changes the parent of the objects root frame to the given frame and sets the transformation to Transformation.IDENTITY.
attachTo(ObjectFrame, ITransformation) - Method in class com.kuka.geometry.SpatialObject
Changes the parent of objects root frame to the given frame and sets the given transformation.
attachTo(ObjectFrame, Frame) - Method in class com.kuka.geometry.SpatialObject
Changes the parent of the objects root frame to the given frame and moves it to the matchingPosition in space.
attachTo(ObjectFrame) - Method in class com.kuka.geometry.World
Not supported for World.
attachTo(ObjectFrame, ITransformation) - Method in class com.kuka.geometry.World
Not supported for World.
attachTo(ObjectFrame, Frame) - Method in class com.kuka.geometry.World
Not supported for World.
attachWithCurrentPositionTo(ObjectFrame) - Method in class com.kuka.geometry.SpatialObject
Changes the parent of the objects root frame to the given frame and keeps the position in space of this object.
attachWithCurrentPositionTo(ObjectFrame) - Method in class com.kuka.geometry.World
Not supported for World.
await() - Method in interface com.kuka.motion.IMotionContainer
Blocks the calling thread until the container has finished it's execution.
await(long, TimeUnit) - Method in interface com.kuka.motion.IMotionContainer
Blocks the calling thread until the container has finished it's execution.
AxisAngleRotation - Class in com.kuka.math.geometry
Immutable representation of a spatial rotation in axis-angle form.

C

calculateCombinedLoadData(ObjectFrame) - Static method in class com.kuka.geometry.SpatialObjectUtils
Calculates the load data (mass, center of mass and inertia) of all spatial objects directly or indirectly attached to the given frame's owner object.
calculateCombinedLoadData(Frame, Collection<? extends SpatialObject>) - Static method in class com.kuka.geometry.SpatialObjectUtils
Calculates the combined load data (mass, center of mass and inertia) of all given spatial objects with respect to the given reference frame (only the objects in the collection will be taken into account for the calculation, not the respective child objects).
calculateTransformationTo(Frame) - Method in class com.kuka.geometry.Frame
Calculates the transformation from this frame to the given target frame, combining the connections between the frames along the frame graph.
cancel() - Method in interface com.kuka.motion.IMotionContainer
Cancels all motions in this container.
checkInterrupted() - Static method in exception com.kuka.exceptions.ThreadInterruptedException
Checks the interrupted flag of the current thread and throws a ThreadInterruptedException if the flag is set.
com.kuka.common.command - package com.kuka.common.command
This package contains interfaces and classes for the KUKA command model.
com.kuka.condition - package com.kuka.condition
This package contains interfaces and classes for the KUKA condition model.
com.kuka.exceptions - package com.kuka.exceptions
This package contains common exceptions.
com.kuka.geometry - package com.kuka.geometry
This package contains interfaces and classes for the KUKA scene graph and geometry model.
com.kuka.geometry.connections - package com.kuka.geometry.connections
This package contains interfaces and classes describing connections between Frames.
com.kuka.geometry.forms - package com.kuka.geometry.forms
This package contains classes for usage of geometrical forms within the KUKA geometry model.
com.kuka.geometry.internal - package com.kuka.geometry.internal
Contains internal classes of the KUKA geometry model.
com.kuka.math.geometry - package com.kuka.math.geometry
This package contains interfaces and implementations for basic linear algebra and geometric concepts.
com.kuka.math.physics - package com.kuka.math.physics
This package contains some utility classes for physical calculations.
com.kuka.motion - package com.kuka.motion
This package contains interfaces and classes for the KUKA motion model.
com.kuka.parameters.user - package com.kuka.parameters.user
This package contains interfaces and classes for the generic user parameter handling.
com.kuka.parameters.user.internal - package com.kuka.parameters.user.internal
Contains internal classes of the generic implementation.
combinedCenterOfMass(double, Vector3D, double, Vector3D) - Static method in class com.kuka.math.physics.PhysicsUtils
Calculates the combined center of mass of two objects.
COMMANDED - Static variable in class com.kuka.geometry.connections.QueryType
A commanded value is a theoretical value.
compose(IRotation) - Method in class com.kuka.math.geometry.AbstractRotation
 
compose(ITransformation) - Method in class com.kuka.math.geometry.AbstractTransformation
 
compose(IRotation) - Method in interface com.kuka.math.geometry.IRotation
If the rotations A and B are represented as matrices, then the effect of A.compose(B) is corresponding to the matrix multiplication A*B.
compose(ITransformation) - Method in interface com.kuka.math.geometry.ITransformation
If the transformations A and B are represented as homogeneous matrices, then the effect of A.compose(B) is that of the matrix multiplication A*B.
compose(MatrixRotation) - Method in class com.kuka.math.geometry.MatrixRotation
The effect of A.compose(B) is that of the matrix multiplication A*B.
compose(MatrixTransformation) - Method in class com.kuka.math.geometry.MatrixTransformation
The effect of A.compose(B) is that of the matrix multiplication A*B.
compose(IRotation) - Method in class com.kuka.math.geometry.Rotation
 
compose(ITransformation) - Method in class com.kuka.math.geometry.Transformation
 
ConnectionChain - Class in com.kuka.geometry
Represents a directed connection chain between two frames connected through the frame tree.
ConnectionChain(Frame, Frame) - Constructor for class com.kuka.geometry.ConnectionChain
Creates a new connection instance from a source frame to a target frame.
ConnectionChain.ConnectionIterator - Class in com.kuka.geometry
An iterator over the connections of a ConnectionChain.
connectToParent(Frame, IFrameConnection) - Method in class com.kuka.geometry.LocalFrame
 
connectToParent(Frame, ITransformation) - Method in class com.kuka.geometry.LocalFrame
Changes this frame's parent and the connection to the parent.
containerFinished(IMotionContainer) - Method in interface com.kuka.motion.IMotionContainerListener
Invoked when all motions inside the container have been finished.
containerFinished(IMotionContainer) - Method in class com.kuka.motion.MotionContainerListenerAdapter
 
CoordinateAxis - Enum in com.kuka.math.geometry
This enumeration represents the three axes of a Cartesian coordinate system.
CoordinateDirection - Enum in com.kuka.math.geometry
This enum specifies the six directions along the three axes of a Cartesian coordinate system.
CoordinatePlane - Enum in com.kuka.math.geometry
This enumeration represents the coordinate planes in a Cartesian coordinate system.
copy() - Method in interface com.kuka.geometry.IRedundancyCollection
Creates and returns a deep copy of this redundancy collection.
copyOf(Frame, Frame) - Static method in class com.kuka.geometry.LocalFrame
Creates a new frame instance from an original frame, which must have a direct or indirect connection to the given newParent frame.
copyWithRedundancy(Frame, Frame) - Static method in class com.kuka.geometry.RedundancyUtils
Creates a snapshot copy of the given Frame (including its redundancy information) into a new LocalFrame.
createFrame(SpatialObject, String, ObjectFrame, ITransformation, String) - Static method in class com.kuka.geometry.SceneGraphObjectFactory
Creates an object frame with given name, UUID, parent object frame and transformation from parent object frame - and with the spatial object to which the object frame should belong.
createFrame(String, IFrameConnection) - Method in class com.kuka.geometry.SpatialForm
Created a frame for given name and connection to the reference frame.
createFrame(String, ITransformation) - Method in class com.kuka.geometry.SpatialObject
Creates a new object frame that belongs to this object.
createFrame(String, ObjectFrame, ITransformation) - Method in class com.kuka.geometry.SpatialObject
Creates a new object frame that belongs to this object.
createFrame(String, IFrameConnection) - Method in class com.kuka.geometry.SpatialObject
Creates a new object frame that belongs to this object.
createFrame(String, ObjectFrame, IFrameConnection) - Method in class com.kuka.geometry.SpatialObject
Creates a new object frame that belongs to this object.
createFrameFrom(Frame) - Method in class com.kuka.geometry.SpatialObject
Creates a new object frame that belongs to this object.
createSpatialObject(String, String) - Static method in class com.kuka.geometry.SceneGraphObjectFactory
Creates a spatial object where name and UUID is given.
createSurfaceFrame(String, double, double) - Method in class com.kuka.geometry.forms.Sphere
Creates a frame on the surface of the sphere.
createVertexFrame(String, CuboidVertex) - Method in class com.kuka.geometry.forms.Cuboid
Creates a vertex frame.
crossProduct(Vector3D) - Method in class com.kuka.math.geometry.Vector3D
Returns the vector that is the cross product between this vector and the other vector.
Cuboid - Class in com.kuka.geometry.forms
Implements a cuboid as a spatial form.
Cuboid(double, double, double) - Constructor for class com.kuka.geometry.forms.Cuboid
Creates a new cuboid instance.
CuboidConnection - Class in com.kuka.geometry.forms
A cuboid connection is a connection between the reference vertex to another vertex of a cuboid.
CuboidConnection(Cuboid, CuboidVertex) - Constructor for class com.kuka.geometry.forms.CuboidConnection
Creates a new cuboid connection instance.
CuboidVertex - Enum in com.kuka.geometry.forms
Defines the vertexes of a cuboid.

D

defensiveCopy(IRotation) - Static method in class com.kuka.math.geometry.MathUtils
Returns an immutable AbstractRotation instance of the given rotation.
defensiveCopy(ITransformation) - Static method in class com.kuka.math.geometry.MathUtils
Returns an immutable AbstractTransformation instance of the given transformation.
detach() - Method in class com.kuka.geometry.SpatialObject
Detaches the SpatialObject from its parent and sets this objects parent to null.
detach() - Method in class com.kuka.geometry.World
Not supported for World.
determinant() - Method in class com.kuka.math.geometry.Matrix
Calculates the determinant of this matrix.
disconnectFromParent() - Method in class com.kuka.geometry.LocalFrame
 
distanceTo(Frame) - Method in class com.kuka.geometry.Frame
Calculates the euclidean distance from this frame to the given other frame.
distanceTo(ITransformation) - Method in class com.kuka.math.geometry.AbstractTransformation
 
distanceTo(ITransformation) - Method in interface com.kuka.math.geometry.ITransformation
Calculates the euclidean distance of the origin of this transformation to the origin of the given transformation.
dotProduct(Vector3D) - Method in class com.kuka.math.geometry.Vector3D
Returns the dot (inner/scalar) product between this vector and the other vector.

E

elementEqual(Vector3D, Vector3D, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if the two vectors are element wise nearly equal.
elementEqual(Matrix, Matrix, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if the two matrices are element wise nearly equal.
elementEqual(Point3D, Point3D, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if the two points are element wise nearly equal.
elementEqual(IRotation, IRotation, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if two Rotations are approximately equal by checking the matrix representations for element-wise approximate equality.
elementEqual(ITransformation, ITransformation, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if two transformations are approximately equal.
equal(double, double, double) - Static method in class com.kuka.math.geometry.MathUtils
Checks if the two double values are nearly equal.
equals(Object) - Method in class com.kuka.math.geometry.AxisAngleRotation
 
equals(Object) - Method in class com.kuka.math.geometry.EulerZyxRotation
 
equals(Object) - Method in class com.kuka.math.geometry.Matrix
Compares the specified object for equality with this matrix.
equals(Object) - Method in class com.kuka.math.geometry.MatrixRotation
 
equals(Object) - Method in class com.kuka.math.geometry.MatrixTransformation
 
equals(Object) - Method in class com.kuka.math.geometry.Point3D
Compares the specified object for equality with this point.
equals(Object) - Method in class com.kuka.math.geometry.Rotation
 
equals(Object) - Method in class com.kuka.math.geometry.Transformation
 
equals(Object) - Method in class com.kuka.math.geometry.Vector3D
Compares the specified object for equality with this vector.
equals(Object) - Method in class com.kuka.math.geometry.XyzAbcTransformation
 
equals(Object) - Method in class com.kuka.math.physics.Inertia
 
equals(Object) - Method in class com.kuka.math.physics.LoadData
 
EulerZyxRotation - Class in com.kuka.math.geometry
Immutable representation of a spatial rotation as Z-Y-X Euler angles, which are the same as X-Y-Z fixed angles.
execute(ObjectFrame, IMotion, IMotionContainerListener) - Method in interface com.kuka.motion.IMotionExecutor
Executes the given command synchronously.
executeAsync(ObjectFrame, IMotion, IMotionContainerListener) - Method in interface com.kuka.motion.IMotionExecutor
Executes the given motion asynchronously.

F

fill(LoadData) - Method in class com.kuka.math.physics.LoadData
Fills the load data object with the data of another load data object.
fillRowFirstArray(double[]) - Method in class com.kuka.math.geometry.MatrixRotation
Fills a "RowFirst" representation (double[3,3]) Array "Frame33" - represented as 9 element vector.
fillRowFirstArray(double[]) - Method in class com.kuka.math.geometry.MatrixTransformation
Fills a "RowFirst" representation (double[3,4]) Array "Frame34" - represented as 12 element vector.
findFirstFrame(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches the first ObjectFrame with the given name in the given owner SpatialObject.
findFirstObject(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches the first SpatialObject with the given name in the object tree below the given root SpatialObject.
findFrames(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches all ObjectFrame with the given name in the given owner SpatialObject.
findObjects(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches all SpatialObject with the given name in the object tree below the given root SpatialObject.
findRootFrame(SpatialObject) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches for the root frame of the root spatial object.
findRootFrame(Frame) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches for the root frame.
findRootObject() - Method in class com.kuka.geometry.SpatialObject
Searches the root SpatialObject in the object tree containing the element object.
findRootObject(Frame) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches the root SpatialObject in the object tree where the frame is connected to.
Frame - Class in com.kuka.geometry
A frame represents a coordinate system in three-dimensional space.
FrameUtils - Class in com.kuka.geometry
Utility class providing static helper methods for the frame alignment.

G

get(int, int) - Method in class com.kuka.math.geometry.Matrix
Returns the matrix element at the specified position.
get(int) - Method in class com.kuka.math.geometry.Point3D
Gets a coordinate of the point at the specified index, where 0 denotes the x, 1 the y and 2 the z coordinate.
get(int) - Method in class com.kuka.math.geometry.Vector3D
Gets a value of the vector at the specified index, where 0 denotes the x, 1 the y and 2 the z element of the vector.
getAdditionalFrameData() - Method in class com.kuka.geometry.ObjectFrame
Gets the map containing all additional parameters defined for this frame.
getAdditionalParameter(String) - Method in class com.kuka.geometry.ObjectFrame
Gets an additional frame parameter for the specified key.
getAllChildObjects() - Method in class com.kuka.geometry.SpatialObject
Returns a list of all children of this object, plus all of the children's children and so on.
getAllChildren() - Method in class com.kuka.geometry.ObjectFrame
Returns a list of all children of this frame, plus all of these children's children and so on.
getAllFrames() - Method in class com.kuka.geometry.SpatialObject
Gets all frames belonging to this object.
getAllParameters() - Method in class com.kuka.parameters.user.internal.UserParameters
Returns all parameters from the collection as a read-only snapshot copy.
getAllParameters() - Method in interface com.kuka.parameters.user.IUserParameters
Returns all parameters from the collection as a read-only snapshot copy.
getAlphaRad() - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns the α (alpha) angle of the rotation in [rad].
getAlphaRad() - Method in class com.kuka.math.geometry.Rotation
Returns the α (alpha) angle of the rotation in [rad].
getAlphaRad() - Method in class com.kuka.math.geometry.Transformation
Returns the α (alpha) angle of the rotation part of the transformation in [rad].
getAlphaRad() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the α (alpha) angle of the rotation part of the transformation in radians.
getAngle() - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns the angle of this rotation around its axis.
getAxis() - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns the axis of this rotation.
getAxisVector(CoordinateAxis) - Static method in class com.kuka.math.geometry.MathUtils
Returns an unit vector representing the specified CoordinateAxis.
getBetaRad() - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns the β (beta) angle of the rotation in [rad].
getBetaRad() - Method in class com.kuka.math.geometry.Rotation
Returns the β (beta) angle of the rotation in [rad].
getBetaRad() - Method in class com.kuka.math.geometry.Transformation
Returns the β (beta) angle of the rotation part of the transformation in [rad].
getBetaRad() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the β (beta) angle of the rotation part of the transformation in radians.
getBooleanParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns a boolean parameter from the collection.
getBooleanParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Returns a boolean parameter from the collection.
getCenter() - Method in class com.kuka.geometry.forms.Sphere
Gets the center frame of the sphere.
getCenterOfMass() - Method in class com.kuka.math.physics.LoadData
Gets the center of mass.
getChild(String) - Method in class com.kuka.geometry.ObjectFrame
Returns the child frame with the specified name.
getChildObject(String) - Method in class com.kuka.geometry.SpatialObject
Gets the child object with the specified path.
getChildObjects() - Method in class com.kuka.geometry.SpatialObject
Returns a list of all direct children of this object.
getChildren() - Method in class com.kuka.geometry.ObjectFrame
Returns a new list containing child frames of this frame.
getColumnVector(int) - Method in class com.kuka.math.geometry.Matrix
Returns the column vector at the specified column.
getConnectionFromParent() - Method in class com.kuka.geometry.Frame
Returns the connection from the parent frame to this frame.
getConnectionFromParent() - Method in class com.kuka.geometry.ObjectFrame
Returns the connection from the parent frame to this frame.
getCurrentMotion() - Method in interface com.kuka.motion.IMotionContainer
Returns the motion command that is being currently executed.
getDefaultMotionFrame() - Method in class com.kuka.geometry.SpatialObject
Gets the current defaultMotionFrame.
getDefaultNumberFormat() - Static method in class com.kuka.math.geometry.MathUtils
Returns an instance of the default NumberFormat.
getDirectionVector(CoordinateDirection) - Static method in class com.kuka.math.geometry.MathUtils
Returns an unit vector representing the specified CoordinateDirection.
getDisplayName() - Method in class com.kuka.parameters.user.internal.UserParameter
Returns the display name corresponding to this user parameter.
getDisplayName() - Method in interface com.kuka.parameters.user.IUserParameter
Returns the display name corresponding to this user parameter.
getDoubleParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns a double parameter from the collection.
getDoubleParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Returns a double parameter from the collection.
getElement00() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement01() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement02() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement10() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement11() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement12() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement20() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement21() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getElement22() - Method in class com.kuka.math.geometry.Matrix
Returns a specific matrix element.
getErrorMessage() - Method in interface com.kuka.motion.IMotionContainer
Gets the error message for the container.
getFiredBreakCondition() - Method in interface com.kuka.motion.IMotionContainer
Gets the user condition that has fired and caused the stopping of this motion container.
getForm() - Method in class com.kuka.geometry.SpatialObject
Gets the spatial form of this object.
getForm() - Method in class com.kuka.geometry.World
Not supported for World.
getFrame(String) - Method in class com.kuka.geometry.SpatialObject
Gets the object frame belonging to the object under the specified path.
getFrameLock() - Method in class com.kuka.geometry.SpatialObject
Returns a Lock object that can be used to lock all ObjectFrames owned by this SpatialObject.
getGammaRad() - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns the γ (gamma) angle of the rotation in [rad].
getGammaRad() - Method in class com.kuka.math.geometry.Rotation
Returns the γ (gamma) angle of the rotation in [rad].
getGammaRad() - Method in class com.kuka.math.geometry.Transformation
Returns the γ (gamma) angle of the rotation part of the transformation in [rad].
getGammaRad() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the γ (gamma) angle of the rotation part of the transformation in radians.
getId() - Method in class com.kuka.geometry.ObjectFrame
Gets the attribute Id.
getId() - Method in class com.kuka.geometry.SpatialObject
Gets the attribute Id.
getInertia() - Method in class com.kuka.math.physics.InertiaTensor
Gets the inertia of the tensor.
getInertia() - Method in class com.kuka.math.physics.LoadData
Gets the inertia.
getIntParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns an integer parameter from the collection.
getIntParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Returns an integer parameter from the collection.
getJX() - Method in class com.kuka.math.physics.Inertia
Gets the inertia of the object around the X axis.
getJY() - Method in class com.kuka.math.physics.Inertia
Gets the inertia of the object around the Y axis.
getJZ() - Method in class com.kuka.math.physics.Inertia
Gets the inertia of the object around the Z axis.
getKey() - Method in class com.kuka.parameters.user.internal.UserParameter
Returns the key corresponding to this user parameter.
getKey() - Method in interface com.kuka.parameters.user.IUserParameter
Returns the key corresponding to this user parameter.
getLastExecutedMotion() - Method in interface com.kuka.motion.IMotionContainer
Returns the last executed motion command, if the container is already finished.
getLoadData() - Method in class com.kuka.geometry.SpatialObject
Gets the load data of this object.
getLoadData() - Method in class com.kuka.geometry.World
Not supported for World.
getLongParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns a long parameter from the collection.
getLongParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Returns a long parameter from the collection.
getMass() - Method in class com.kuka.math.physics.LoadData
Gets the mass in [kg].
getMatrix() - Method in class com.kuka.math.geometry.AbstractRotation
 
getMatrix() - Method in class com.kuka.math.geometry.AxisAngleRotation
 
getMatrix() - Method in class com.kuka.math.geometry.EulerZyxRotation
 
getMatrix() - Method in interface com.kuka.math.geometry.IRotation
Returns a matrix representing this rotation.
getMatrix() - Method in class com.kuka.math.geometry.MatrixRotation
Returns the underlying matrix that represents this rotation.
getMatrix() - Method in class com.kuka.math.geometry.Rotation
 
getMotionContainer() - Method in exception com.kuka.exceptions.MotionExecutionException
Returns the motion container associated with this exception.
getMultiWriteLock(TreeLock) - Method in class com.kuka.geometry.internal.TreeLock
Obtains a write lock for this lock and another TreeLock and avoids deadlock situations.
getName() - Method in class com.kuka.geometry.Frame
Returns the name of this frame.
getName() - Method in class com.kuka.geometry.ObjectFrame
 
getName() - Method in class com.kuka.geometry.SpatialObject
Gets the name of the object.
getNormalVector(CoordinatePlane) - Static method in class com.kuka.math.geometry.MathUtils
Returns the normal vector corresponding to the specified CoordinatePlane.
getOwner() - Method in class com.kuka.geometry.ObjectFrame
Returns the spatial object that owns this frame.
getOwnerObject() - Method in class com.kuka.geometry.SpatialForm
Returns the owner object.
getParameter(Class<T>) - Method in interface com.kuka.geometry.IRedundancyCollection
Returns the parameter with the specified type, or null if the parameter was not found.
getParameter(String, Class<T>) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns a parameter - an IUserParameter interface implementation instance - identified by the given key.
getParameter(String, Class<T>) - Method in interface com.kuka.parameters.user.IUserParameters
Returns a parameter - an IUserParameter interface implementation instance - identified by the given key.
getParent() - Method in class com.kuka.geometry.Frame
Returns the parent frame.
getParent() - Method in class com.kuka.geometry.ObjectFrame
 
getParentObject() - Method in class com.kuka.geometry.SpatialObject
Gets the parent of this object.
getPath() - Method in class com.kuka.geometry.ObjectFrame
Returns the path to this frame relative to the root frame of the owner object.
getQueryProcessor() - Method in interface com.kuka.geometry.connections.IQueryConnection
 
getRadius() - Method in class com.kuka.geometry.forms.Sphere
Gets the radius.
getRedundancyDataMap() - Method in class com.kuka.geometry.Frame
Gets the map containing all redundancy informations for this frame.
getRedundancyInformation(String) - Method in class com.kuka.geometry.Frame
Sets the redundancy information of this frame for a specific redundancy key.
getReferenceFrame() - Method in class com.kuka.geometry.SpatialForm
Gets the reference object frame of the spatial form.
getRoot() - Method in class com.kuka.geometry.ConnectionChain
 
getRootFrame() - Method in class com.kuka.geometry.SpatialObject
Gets the root frame of this object.
getRotation() - Method in class com.kuka.math.geometry.AbstractTransformation
 
getRotation() - Method in interface com.kuka.math.geometry.ITransformation
Returns the rotation corresponding to this transformation.
getRotation() - Method in class com.kuka.math.geometry.MatrixTransformation
 
getRotation() - Method in class com.kuka.math.geometry.Transformation
 
getRotation() - Method in class com.kuka.math.geometry.XyzAbcTransformation
 
getRotation() - Method in class com.kuka.math.physics.InertiaTensor
Gets the rotation of the tensor.
getRotationMatrix() - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the rotational part of the transformation as a 3x3 matrix.
getRotationMatrix() - Method in class com.kuka.math.geometry.Transformation
Returns the rotational part of the transformation as a 3x3 matrix.
getRuntimeData() - Method in interface com.kuka.motion.IMotionContainer
Gets the custom runtime data associated with this container.
getSafeReadLock() - Method in class com.kuka.geometry.internal.TreeLock
Obtains a read lock for the tree.
getSafeWriteLock() - Method in class com.kuka.geometry.internal.TreeLock
Obtains a write lock for the tree.
getSource() - Method in class com.kuka.geometry.ConnectionChain
Returns the frame that was given to the constructor as source, or the root frame if null was given.
getState() - Method in interface com.kuka.motion.IMotionContainer
Returns the current state of this motion container.
getStringParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Returns a string parameter from the collection.
getStringParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Returns a string parameter from the collection.
getTag(String) - Method in class com.kuka.geometry.SpatialObject
Gets the data stored under the given key.
getTarget() - Method in class com.kuka.geometry.ConnectionChain
Returns the frame that was given to the constructor as target, or the root frame if null was given.
getTransformation() - Method in class com.kuka.geometry.QueryConnectionChain
This method calculates the transformation from source frame to target frame.
getTransformation(QueryType) - Method in class com.kuka.geometry.QueryConnectionChain
This method calculates the transformation from source frame to target frame using the following methods: For each ITransformationConnection, ITransformationConnection.getTransformationFromParent() will be used in the calculation.
getTransformationFromParent() - Method in interface com.kuka.geometry.connections.ITransformationConnection
Returns the transformation from the parent frame to the owner frame.
getTransformationFromParent() - Method in class com.kuka.geometry.connections.StaticConnection
 
getTransformationFromParent() - Method in class com.kuka.geometry.forms.CuboidConnection
 
getTransformationFromParent() - Method in class com.kuka.geometry.forms.SphericalConnection
 
getTransformationFromParent() - Method in class com.kuka.geometry.Frame
Gets the transformation from the reference frame (parent) to this frame.
getTransformations(Collection<? extends QueryType>, Object) - Method in class com.kuka.geometry.QueryConnectionChain
This method calculates the transformation from source frame to target frame for each of the given QueryTypes, using the following methods: For each ITransformationConnection, ITransformationConnection.getTransformationFromParent() will be used in the calculation.
getTranslation() - Method in class com.kuka.math.geometry.AbstractTransformation
 
getTranslation() - Method in interface com.kuka.math.geometry.ITransformation
Returns the translation part of the transformation, i.e. the upper-right 3x1 part of the corresponding homogeneous transformation matrix.
getTranslation() - Method in class com.kuka.math.geometry.MatrixTransformation
 
getTranslation() - Method in class com.kuka.math.geometry.Transformation
 
getTranslation() - Method in class com.kuka.math.geometry.XyzAbcTransformation
 
getTreeLock() - Method in class com.kuka.geometry.internal.TreeLock
 
getUnitVectorX() - Method in class com.kuka.math.geometry.MatrixRotation
Returns the x unit vector after it has been rotated by this rotation.
getUnitVectorX() - Method in class com.kuka.math.geometry.Rotation
Returns the x unit vector after it has been rotated by this rotation.
getUnitVectorX() - Method in class com.kuka.math.geometry.Transformation
Returns the x unit vector after it has been rotated by this rotation.
getUnitVectorY() - Method in class com.kuka.math.geometry.MatrixRotation
Returns the y unit vector after it has been rotated by this rotation.
getUnitVectorY() - Method in class com.kuka.math.geometry.Rotation
Returns the y unit vector after it has been rotated by this rotation.
getUnitVectorY() - Method in class com.kuka.math.geometry.Transformation
Returns the y unit vector after it has been rotated by this rotation.
getUnitVectorZ() - Method in class com.kuka.math.geometry.MatrixRotation
Returns the z unit vector after it has been rotated by this rotation.
getUnitVectorZ() - Method in class com.kuka.math.geometry.Rotation
Returns the z unit vector after it has been rotated by this rotation.
getUnitVectorZ() - Method in class com.kuka.math.geometry.Transformation
Returns the z unit vector after it has been rotated by this rotation.
getUserParameters() - Method in class com.kuka.geometry.SpatialObject
Gets a collection of user parameters that belong to this object.
getValue() - Method in class com.kuka.parameters.user.internal.UserParameter
Returns the value corresponding to this user parameter.
getValue() - Method in interface com.kuka.parameters.user.IUserParameter
Returns the value corresponding to this user parameter.
getValueType() - Method in class com.kuka.parameters.user.internal.UserParameter
Returns a Class object that identifies the declared type for the value corresponding to this user parameter - the type of generic type parameter T.
getValueType() - Method in interface com.kuka.parameters.user.IUserParameter
Returns a Class object that identifies the declared type for the value corresponding to this user parameter - the type of generic type parameter T.
getX() - Method in class com.kuka.geometry.forms.Cuboid
Returns the dimension on x-axis.
getX() - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the x element of the translation part of the transformation.
getX() - Method in class com.kuka.math.geometry.Point3D
Returns the x coordinate of the point.
getX() - Method in class com.kuka.math.geometry.Transformation
Returns the x element of the translation part of the transformation.
getX() - Method in class com.kuka.math.geometry.Vector3D
Returns the x element of the vector.
getX() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the x element of the translation part of the transformation.
getY() - Method in class com.kuka.geometry.forms.Cuboid
Returns the dimension on y-axis.
getY() - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the y element of the translation part of the transformation.
getY() - Method in class com.kuka.math.geometry.Point3D
Returns the y coordinate of the point.
getY() - Method in class com.kuka.math.geometry.Transformation
Returns the y element of the translation part of the transformation.
getY() - Method in class com.kuka.math.geometry.Vector3D
Returns the y element of the vector.
getY() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the y element of the translation part of the transformation.
getZ() - Method in class com.kuka.geometry.forms.Cuboid
Returns the dimension on z-axis.
getZ() - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the z element of the translation part of the transformation.
getZ() - Method in class com.kuka.math.geometry.Point3D
Returns the z coordinate of the point.
getZ() - Method in class com.kuka.math.geometry.Transformation
Returns the z element of the translation part of the transformation.
getZ() - Method in class com.kuka.math.geometry.Vector3D
Returns the z element of the vector.
getZ() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns the z element of the translation part of the transformation.

H

hasAncestor(Frame) - Method in class com.kuka.geometry.Frame
Checks whether the given frame is a direct or indirect ancestor of this frame, i.e. if the frame can be found by recursive calls to Frame.getParent(), starting with this frame.
hasAncestor(SpatialObject) - Method in class com.kuka.geometry.SpatialObject
Returns true if the given object is an ancestor (parent, grand parent, etc...) of this.
hasDescendant(SpatialObject) - Method in class com.kuka.geometry.SpatialObject
Returns true if the given object is a descendant (child, grandchild, etc...) of this.
hasError() - Method in interface com.kuka.motion.IMotionContainer
Checks if this container is in an error state.
hasFired(ICondition) - Method in interface com.kuka.motion.IMotionContainer
Tests whether the given condition has fired for this container. this is equivalent to
{@code getFiredConditionInfo() !
hashCode() - Method in class com.kuka.math.geometry.AxisAngleRotation
 
hashCode() - Method in class com.kuka.math.geometry.EulerZyxRotation
 
hashCode() - Method in class com.kuka.math.geometry.Matrix
Returns the hash code for this matrix.
hashCode() - Method in class com.kuka.math.geometry.MatrixRotation
 
hashCode() - Method in class com.kuka.math.geometry.MatrixTransformation
 
hashCode() - Method in class com.kuka.math.geometry.Point3D
Returns the hash code for this point.
hashCode() - Method in class com.kuka.math.geometry.Rotation
 
hashCode() - Method in class com.kuka.math.geometry.Transformation
 
hashCode() - Method in class com.kuka.math.geometry.Vector3D
Returns the hash code for this vector.
hashCode() - Method in class com.kuka.math.geometry.XyzAbcTransformation
 
hashCode() - Method in class com.kuka.math.physics.Inertia
 
hashCode() - Method in class com.kuka.math.physics.LoadData
 
hasNext() - Method in class com.kuka.geometry.ConnectionChain.ConnectionIterator
 
hasPathTo(Frame) - Method in class com.kuka.geometry.Frame
Tests whether this frame has a path to the given target frame.
hasStaticPathTo(Frame) - Method in class com.kuka.geometry.Frame
Tests whether this frame has a static path to the given target frame.

I

ICommandRuntimeData - Interface in com.kuka.common.command
Marker interface for runtime data classes.
ICondition - Interface in com.kuka.condition
Base interface for conditions.
IDENTITY - Static variable in class com.kuka.geometry.connections.StaticConnection
A static connection that represents the identical position of the connected frames.
IDENTITY - Static variable in class com.kuka.math.geometry.Matrix
Immutable Matrix instance representing the identity 3x3 matrix.
IDENTITY - Static variable in class com.kuka.math.geometry.MatrixTransformation
Immutable MatrixTransformation instance representing identity (i.e. unchanging) transformation.
IDENTITY - Static variable in class com.kuka.math.geometry.Transformation
Immutable Transformation instance representing identity (i.e. unchanging) transformation.
IDENTITY - Static variable in class com.kuka.math.geometry.XyzAbcTransformation
Immutable XyzAbcTransformation instance representing identity (i.e. unchanging) transformation.
IFrameConnection - Interface in com.kuka.geometry.connections
A frame connection contains information about the spatial relation of a parent frame to an owner frame.
IMotion - Interface in com.kuka.motion
Represents a generic motion.
IMotionContainer - Interface in com.kuka.motion
Represents the execution state of robot motions.
IMotionContainerListener - Interface in com.kuka.motion
Event listener interface that provides events for the states of motions for a motion container.
IMotionExecutor - Interface in com.kuka.motion
Implementations of this motion executor interface provide synchronous and asynchronous motion execution.
IMovable - Interface in com.kuka.motion
Interface to request a move of this object.
Inertia - Class in com.kuka.math.physics
Represents the inertia of a physical object along its main inertia axes.
InertiaTensor - Class in com.kuka.math.physics
Represents the inertia of a physical object.
interruptAndThrow(InterruptedException) - Static method in exception com.kuka.exceptions.ThreadInterruptedException
Interrupts the current thread and throws the InterruptedException as a ThreadInterruptedException.
invert() - Method in interface com.kuka.condition.ICondition
Negates a condition.
invert() - Method in class com.kuka.math.geometry.AbstractRotation
 
invert() - Method in class com.kuka.math.geometry.AbstractTransformation
 
invert() - Method in interface com.kuka.math.geometry.IRotation
Returns an inverted rotation, i.e. a rotation that reverses the effect of this one.
invert() - Method in interface com.kuka.math.geometry.ITransformation
Returns an inverted transformation, i.e. a transformation that reverses the effect of this one.
invert() - Method in class com.kuka.math.geometry.Matrix
Returns a matrix which is the inverse of this matrix, if it exists, otherwise throws ArithmeticException.
invert() - Method in class com.kuka.math.geometry.MatrixRotation
 
invert() - Method in class com.kuka.math.geometry.MatrixTransformation
 
invert() - Method in class com.kuka.math.geometry.Rotation
 
invert() - Method in class com.kuka.math.geometry.Transformation
 
invert() - Method in class com.kuka.math.geometry.Vector3D
Returns an inverted vector, i.e. a vector with element wise negated values.
IQueryConnection<T extends IQueryConnection<T>> - Interface in com.kuka.geometry.connections
A query connection is a connection between two frames whose transformation is delegated to an ITrafoQueryProcessor.
IRedundancyCollection - Interface in com.kuka.geometry
Interface for holding redundancy information.
IRotation - Interface in com.kuka.math.geometry
Abstract representation of a rotation in 3-dimensional space.
isConnected() - Method in class com.kuka.geometry.ConnectionChain
 
isFinal() - Method in enum com.kuka.motion.MotionContainerState
 
isFinished() - Method in interface com.kuka.motion.IMotionContainer
Checks if the container has finished it's execution either with a successful execution or with an error.
isNearTo(Frame, double, double) - Method in class com.kuka.geometry.Frame
Tests whether this frame lies close to another frame in space.
isNextUp() - Method in class com.kuka.geometry.ConnectionChain.ConnectionIterator
While the iterator has more elements (see ConnectionChain.ConnectionIterator.hasNext()), this method will return true while the iteration is on the path upwards from source to the root frame, and false if on the path from root to target.
isRootFrame(ObjectFrame) - Static method in class com.kuka.geometry.SpatialObjectUtils
Checks whether or not the given frame is a root frame.
isRotationMatrix(Matrix) - Static method in class com.kuka.math.geometry.MatrixRotation
Function that checks whether the given matrix is rotational matrix, i.e. it must fulfill the following conditions: equal(matrix.determinant(), 1, epsilon);
equal(matrix.transpose(), matrix.invert(), epsilon); where equal(a, b, epsilon) is an element-wise test of approximate equality (small epsilon test).
isStatic() - Method in class com.kuka.geometry.QueryConnectionChain
 
iterator() - Method in class com.kuka.geometry.ConnectionChain
Returns an iterator over the frame connections from source (as returned by ConnectionChain.getSource()) to target (as returned by ConnectionChain.getTarget()).
ITrafoQueryProcessor<T extends IQueryConnection<T>> - Interface in com.kuka.geometry.connections
This interface is meant to be implemented by components that can communicate with real world sensors to find out the current sensor values, and from these values calculate spatial transformations that can be used to express a connection between frames.
ITransformation - Interface in com.kuka.math.geometry
Represents a transformation in 3-dimensional space.
ITransformationConnection - Interface in com.kuka.geometry.connections
A frame connection that can provide an ITransformation from the parent frame to the owner frame.
IUserParameter<T> - Interface in com.kuka.parameters.user
Interface that represents the user parameters for a geometric object that may be part of the scene graph.
IUserParameters - Interface in com.kuka.parameters.user
An interface responsible for user parameter collection handling.

J

joinTensors(double, Vector3D, InertiaTensor, double, Vector3D, InertiaTensor) - Static method in class com.kuka.math.physics.PhysicsUtils
Joints two tensor values and calculates the resulting tensor.

L

length() - Method in class com.kuka.math.geometry.Vector3D
Returns the length of the vector.
LoadData - Class in com.kuka.math.physics
LoadData represents the physical load of a .
LoadData() - Constructor for class com.kuka.math.physics.LoadData
Creates a new instance with zero inertia and mass.
LoadData(double, ITransformation, Inertia) - Constructor for class com.kuka.math.physics.LoadData
Creates a new instance.
LocalFrame - Class in com.kuka.geometry
This is a lightweight class that is meant for frame calculations and intermediate results.
LocalFrame() - Constructor for class com.kuka.geometry.LocalFrame
Creates a new frame instance that has no parent, i.e. a new root frame.
LocalFrame(String) - Constructor for class com.kuka.geometry.LocalFrame
Creates a new frame instance that has no parent, i.e. a new root frame.
LocalFrame(Frame, ITransformation) - Constructor for class com.kuka.geometry.LocalFrame
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.
LocalFrame(String, Frame, ITransformation) - Constructor for class com.kuka.geometry.LocalFrame
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.
LocalFrame(Frame, IFrameConnection) - Constructor for class com.kuka.geometry.LocalFrame
Creates a new frame instance with a specialized connection to a parent frame.

M

MathUtils - Class in com.kuka.math.geometry
Utility class providing static helper methods for the mathematical classes.
Matrix - Class in com.kuka.math.geometry
Immutable representation of a 3x3 matrix.
MatrixBuilder - Class in com.kuka.math.geometry
A mutable builder class for matrices.
MatrixBuilder() - Constructor for class com.kuka.math.geometry.MatrixBuilder
Creates a new instance of a MatrixBuilder, with all elements initialized to zero.
MatrixBuilder(Matrix) - Constructor for class com.kuka.math.geometry.MatrixBuilder
Creates a new instance of a MatrixBuilder, with the elements initialized to the elements of the given matrix.
MatrixRotation - Class in com.kuka.math.geometry
Immutable representation of a spatial rotation in matrix form.
MatrixTransformation - Class in com.kuka.math.geometry
Immutable implementation of a spatial transformation in matrix form, that is the rotation part and the vector part of the homogeneous transformation matrix.
MEASURED - Static variable in class com.kuka.geometry.connections.QueryType
A measured sensor value is usually the value that comes closest to the actual physical value.
MotionContainerListenerAdapter - Class in com.kuka.motion
Adapter class for IMotionContainerListener without any additional implementation.
MotionContainerListenerAdapter() - Constructor for class com.kuka.motion.MotionContainerListenerAdapter
 
MotionContainerState - Enum in com.kuka.motion
Represents the state of an IMotionContainer that tracks the execution of an IMotion, commanded by one of the methods offered by IMovable.
MotionException - Exception in com.kuka.exceptions
Exception thrown while execution of a motion.
MotionException(String, Throwable) - Constructor for exception com.kuka.exceptions.MotionException
Constructs a new MotionException with the specified detail message and cause.
MotionException(String) - Constructor for exception com.kuka.exceptions.MotionException
Constructs a new MotionException with the specified detail message.
MotionExecutionException - Exception in com.kuka.exceptions
Exception thrown while execution of a motion with a known motion container.
MotionExecutionException(IMotionContainer, String) - Constructor for exception com.kuka.exceptions.MotionExecutionException
Creates an instance of ExecutionException class.
MotionExecutionException(IMotionContainer, String, Throwable) - Constructor for exception com.kuka.exceptions.MotionExecutionException
Creates an instance of ExecutionException class.
motionFinished(IMotionContainer, IMotion) - Method in interface com.kuka.motion.IMotionContainerListener
Invoked when the specified motion was finished.
motionFinished(IMotionContainer, IMotion) - Method in class com.kuka.motion.MotionContainerListenerAdapter
 
motionStarted(IMotionContainer, IMotion) - Method in interface com.kuka.motion.IMotionContainerListener
Invoked when the execution of a motion was started.
motionStarted(IMotionContainer, IMotion) - Method in class com.kuka.motion.MotionContainerListenerAdapter
 
move(IMotion) - Method in class com.kuka.geometry.ObjectFrame
 
move(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.ObjectFrame
 
move(IMotion) - Method in class com.kuka.geometry.SpatialObject
 
move(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.SpatialObject
 
move(IMotion) - Method in class com.kuka.geometry.World
Not supported for World.
move(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.World
Not supported for World.
move(IMotion) - Method in interface com.kuka.motion.IMovable
Moves this object according to the given motion.
move(IMotion, IMotionContainerListener) - Method in interface com.kuka.motion.IMovable
Moves this object according to the given motion.
moveAsync(IMotion) - Method in class com.kuka.geometry.ObjectFrame
 
moveAsync(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.ObjectFrame
 
moveAsync(IMotion) - Method in class com.kuka.geometry.SpatialObject
 
moveAsync(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.SpatialObject
 
moveAsync(IMotion) - Method in class com.kuka.geometry.World
Not supported for World.
moveAsync(IMotion, IMotionContainerListener) - Method in class com.kuka.geometry.World
Not supported for World.
moveAsync(IMotion) - Method in interface com.kuka.motion.IMovable
Moves this object according to the given motion.
moveAsync(IMotion, IMotionContainerListener) - Method in interface com.kuka.motion.IMovable
Moves this frame according to the given motion.
MultiLock - Class in com.kuka.geometry.internal
Allows to obtain and hold up to two locks at once thus avoiding deadlocks.
MultiLock(Lock, Lock) - Constructor for class com.kuka.geometry.internal.MultiLock
Creates a lock object and additionally obtains all given locks without risking a dead lock.
multiply(double) - Method in class com.kuka.math.geometry.Matrix
Multiplies this matrix element-wise with a scalar value.
multiply(Vector3D) - Method in class com.kuka.math.geometry.Matrix
Multiplies this matrix with a vector.
multiply(Matrix) - Method in class com.kuka.math.geometry.Matrix
Multiplies this matrix with another matrix (Result = this*other).
multiply(double) - Method in class com.kuka.math.geometry.Vector3D
Returns a vector that has the values of this vector scaled by the given factor.

N

next() - Method in class com.kuka.geometry.ConnectionChain.ConnectionIterator
 
NONE - Static variable in class com.kuka.math.geometry.EulerZyxRotation
Immutable EulerZyxRotation instance representing no rotation.
NONE - Static variable in class com.kuka.math.geometry.MatrixRotation
Immutable MatrixRotation instance representing no rotation.
NONE - Static variable in class com.kuka.math.geometry.Rotation
Immutable Rotation instance representing no rotation.
normalize() - Method in class com.kuka.math.geometry.Vector3D
Returns a vector that points in the same direction as this vector, scaled to unit length (1).

O

ObjectFrame - Class in com.kuka.geometry
Represents a frame that belongs to a SpatialObject.
of(ITransformation) - Static method in class com.kuka.geometry.connections.StaticConnection
 
of(Vector3D, double) - Static method in class com.kuka.math.geometry.AxisAngleRotation
Returns a new immutable instance of this class that represents a spatial rotation around the given axis through the given angle.
of(IRotation) - Static method in class com.kuka.math.geometry.AxisAngleRotation
Returns a new immutable instance of this class from the value of the given rotation.
of(IRotation) - Static method in class com.kuka.math.geometry.EulerZyxRotation
Returns an immutable instance from the values of the provided rotation.
of(Matrix) - Static method in class com.kuka.math.geometry.MatrixRotation
Checked creation of a MatrixRotation from a given rotation matrix.
of(IRotation) - Static method in class com.kuka.math.geometry.MatrixRotation
Returns an immutable instance from the values of the provided rotation.
of(Vector3D, Matrix) - Static method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a rotational and a translational part.
of(Vector3D, IRotation) - Static method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a rotational and a translational part.
of(Vector3D) - Static method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a translational part and no rotation.
of(double, double, double) - Static method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a translational part and no rotation.
of(ITransformation) - Static method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance with the same value as the given transformation.
of(double, double, double) - Static method in class com.kuka.math.geometry.Point3D
Returns an immutable Point3D instance constructed from its cartesian X, Y and Z coordinates.
of(Vector3D) - Static method in class com.kuka.math.geometry.Point3D
Returns an immutable Point3D instance from a vector that points from the origin to the new point.
of(Matrix) - Static method in class com.kuka.math.geometry.Rotation
Checked creation of a Rotation from a given rotation matrix.
of(IRotation) - Static method in class com.kuka.math.geometry.Rotation
Returns an immutable Rotation instance from the values of the provided rotation.
of(double, double, double) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a translational part and no rotation.
of(Vector3D) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a translational part and no rotation.
of(IRotation) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a rotational part only.
of(Vector3D, IRotation) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a rotational and a translational part.
of(Vector3D, Matrix) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a rotational and a translational part.
of(ITransformation) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance with the same value as the given transformation.
of(double, double, double) - Static method in class com.kuka.math.geometry.Vector3D
Returns an immutable Vector3D instance constructed from its cartesian X, Y and Z elements.
of(double, double, double) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance, consisting of a translational part and no rotation.
of(Vector3D, IRotation) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance, consisting of a rotational and a translational part.
of(Vector3D) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance, consisting of a translational part and no rotation.
of(ITransformation) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance with the same value as the given transformation.
of(double, double, double) - Static method in class com.kuka.math.physics.Inertia
Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.
of(Vector3D) - Static method in class com.kuka.math.physics.Inertia
Creates a new immutable instance of this class, with the given values of inertia along the X, Y and Z axes of an object's mass centroid.
of(Inertia, IRotation) - Static method in class com.kuka.math.physics.InertiaTensor
Transforms the given Inertia inertia into a InertiaTensor .
ofColumnFirst(double, double, double, double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.Matrix
Returns an immutable Matrix instance from column-first order values.
ofColumns(Vector3D, Vector3D, Vector3D) - Static method in class com.kuka.math.geometry.Matrix
Returns an immutable Matrix instance constructed from column vectors.
ofDeg(double, double, double) - Static method in class com.kuka.math.geometry.EulerZyxRotation
Returns an immutable EulerZyxRotation instance with the given angle values.
ofDeg(double, double, double) - Static method in class com.kuka.math.geometry.Rotation
Returns an immutable Rotation instance with the given angle values.
ofDeg(double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a translational and a rotational part.
ofDeg(double, double, double) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a rotational part only.
ofDeg(double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance, consisting of a translational and a rotational part.
ofRad(double, double, double) - Static method in class com.kuka.math.geometry.EulerZyxRotation
Returns an immutable EulerZyxRotation instance with the given angle values.
ofRad(double, double, double) - Static method in class com.kuka.math.geometry.Rotation
Returns an immutable Rotation instance with the given angle values.
ofRad(double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a translational and a rotational part.
ofRad(double, double, double) - Static method in class com.kuka.math.geometry.Transformation
Returns an immutable Transformation instance, consisting of a rotational part only.
ofRad(double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.XyzAbcTransformation
Returns an immutable XyzAbcTransformation instance, consisting of a translational and a rotational part.
ofRowFirst(double, double, double, double, double, double, double, double, double) - Static method in class com.kuka.math.geometry.Matrix
Returns an immutable Matrix instance from row-first order values.
ofRowFirst(double...) - Static method in class com.kuka.math.geometry.MatrixTransformation
Creates a Matrix Transform based on a "row first" matrix 3x4 -> 12 Elements...
ofUnchecked(Matrix) - Static method in class com.kuka.math.geometry.MatrixRotation
Unchecked creation of a MatrixRotation from a given rotation matrix.
ofUnchecked(Matrix) - Static method in class com.kuka.math.geometry.Rotation
Unchecked creation of a Rotation from a given rotation matrix.
onContainerStateChanged(IMotionContainer, MotionContainerState) - Method in interface com.kuka.motion.IMotionContainerListener
Invoked when the motion container changed its state.
onContainerStateChanged(IMotionContainer, MotionContainerState) - Method in class com.kuka.motion.MotionContainerListenerAdapter
 
or(ICondition, ICondition...) - Method in interface com.kuka.condition.ICondition
Links two or more conditions using a disjunction.
ORIGIN - Static variable in class com.kuka.math.geometry.Point3D
Immutable Point3D instance representing the origin of a coordinate system.

P

PATH_SEPARATOR - Static variable in class com.kuka.geometry.ObjectFrame
Separator for frame path segments.
PATH_SEPARATOR - Static variable in class com.kuka.geometry.SpatialObject
Name separator for object path.
PhysicsUtils - Class in com.kuka.math.physics
Utility class for physical calculations.
Point3D - Class in com.kuka.math.geometry
Immutable representation of a 3-dimensional point.
processQuery(Collection<QueryType>, List<T>, Object) - Method in interface com.kuka.geometry.connections.ITrafoQueryProcessor
Query the sensors asynchronously, and for each given connection and query type return a corresponding ITransformation.

Q

QueryConnectionChain - Class in com.kuka.geometry
Represents a directed connection chain between two frames connected through the frame tree.
QueryConnectionChain(Frame, Frame) - Constructor for class com.kuka.geometry.QueryConnectionChain
Creates a new query connection instance from a source frame to a target frame.
QueryConnectionChain(ConnectionChain) - Constructor for class com.kuka.geometry.QueryConnectionChain
Creates a new query connection instance from a ConnectionChain.
QueryType - Class in com.kuka.geometry.connections
Specifies the type of sensor value that should be used in calculations with frames having a IQueryConnection to their parent frame.
QueryType() - Constructor for class com.kuka.geometry.connections.QueryType
 

R

RedundancyUtils - Class in com.kuka.geometry
Utility class providing static helper methods for frame copy operations, that preserve frame's redundancy information.
remove() - Method in class com.kuka.geometry.ConnectionChain.ConnectionIterator
 
removeAdditionalParameter(String) - Method in class com.kuka.geometry.ObjectFrame
Removes an additional frame parameter for the specified key.
removeForm() - Method in class com.kuka.geometry.SpatialObject
Removes the spatial form from this object.
removeForm() - Method in class com.kuka.geometry.World
Not supported for World.
removeFrame(ObjectFrame) - Method in class com.kuka.geometry.SpatialObject
Removes the specified object frame from the object and disconnects it from its parent frame.
removeParameter(String) - Method in class com.kuka.parameters.user.internal.UserParameters
Removes a parameter from the collection.
removeParameter(String) - Method in interface com.kuka.parameters.user.IUserParameters
Removes a parameter from the collection.
representationOf(Frame, Vector3D) - Method in class com.kuka.geometry.Frame
Returns the representation of the given vector, which is expressed in the given frame reference, in this frame's coordinate system.
representationOf(Frame, Point3D) - Method in class com.kuka.geometry.Frame
Returns the representation of the given point, which is expressed in the given frame reference, in this frame's coordinate system.
rotate(IRotation) - Method in class com.kuka.geometry.Frame
Changes this frame's orientation by rotating it in its own coordinate system.
rotate(Frame, IRotation) - Method in class com.kuka.geometry.Frame
Changes this frame's orientation by rotating it in the coordinate system of the given reference frame.
rotateTo(Frame) - Method in class com.kuka.geometry.Frame
Changes this frame's orientation in space by rotating it into the same orientation in space as the given target frame.
Rotation - Class in com.kuka.math.geometry
Immutable representation of a spatial rotation as Z-Y-X Euler angles and/or 3x3 rotation matrix.
rotationalDistanceTo(Frame) - Method in class com.kuka.geometry.Frame
Calculates the rotational distance from this frame to the given other frame.
rotationalDistanceTo(IRotation) - Method in class com.kuka.math.geometry.AbstractRotation
 
rotationalDistanceTo(ITransformation) - Method in class com.kuka.math.geometry.AbstractTransformation
 
rotationalDistanceTo(IRotation) - Method in interface com.kuka.math.geometry.IRotation
Calculates the rotational distance from this rotation to the other rotation.
rotationalDistanceTo(ITransformation) - Method in interface com.kuka.math.geometry.ITransformation
Calculates the rotational distance from this transformation to the other transformation.
rotationTo(IRotation) - Method in class com.kuka.math.geometry.AbstractRotation
 
rotationTo(IRotation) - Method in interface com.kuka.math.geometry.IRotation
Calculates the rotation needed to turn this rotation into the other rotation.
rotationTo(IRotation) - Method in class com.kuka.math.geometry.Rotation
 

S

SceneGraphObjectFactory - Class in com.kuka.geometry
Not intended to be used by robot application developers!
set(int, int, double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets the matrix element at the specified position to the given value.
setAdditionalParameter(String, Object) - Method in class com.kuka.geometry.ObjectFrame
Sets an additional frame parameter with specified key and value.
setCenterOfMass(ITransformation) - Method in class com.kuka.math.physics.LoadData
Sets the center of mass for this object.
setCenterOfMass(double, double, double) - Method in class com.kuka.math.physics.LoadData
Sets the center of mass for this object.
setColumn(int, Vector3D) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets the matrix elements in the column of the given index to the values in the given vector.
setConnectionFromParent(IFrameConnection) - Method in class com.kuka.geometry.Frame
Changes the connection to the parent of this frame.
setConnectionFromParent(IFrameConnection) - Method in class com.kuka.geometry.ObjectFrame
 
setDefaultMotionFrame(ObjectFrame) - Method in class com.kuka.geometry.SpatialObject
Sets the defaultMotionFrame of the object.
setDefaultMotionFrame(ObjectFrame) - Method in class com.kuka.geometry.World
 
setDisplayName(String) - Method in class com.kuka.parameters.user.internal.UserParameter
Sets the display name corresponding to this user parameter.
setDisplayName(String) - Method in interface com.kuka.parameters.user.IUserParameter
Sets the display name corresponding to this user parameter.
setElement00(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement01(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement02(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement10(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement11(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement12(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement20(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement21(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setElement22(double) - Method in class com.kuka.math.geometry.MatrixBuilder
Sets a specific matrix element to the given value.
setForm(SpatialForm, ObjectFrame) - Method in class com.kuka.geometry.SpatialObject
Sets a spatial form for this object.
setForm(SpatialForm, ObjectFrame) - Method in class com.kuka.geometry.World
Not supported for World.
setId(String) - Method in class com.kuka.geometry.ObjectFrame
Sets the attribute Id.
setId(String) - Method in class com.kuka.geometry.SpatialObject
Sets the attribute Id.
setInertia(Inertia) - Method in class com.kuka.math.physics.LoadData
Sets the load inertia for this object.
setLoadData(LoadData) - Method in class com.kuka.geometry.SpatialObject
Sets the load data of this object.
setLoadData(LoadData) - Method in class com.kuka.geometry.World
Not supported for World.
setMass(double) - Method in class com.kuka.math.physics.LoadData
Sets the mass in [kg].
setName(String) - Method in class com.kuka.geometry.Frame
Sets the name of this frame.
setName(String) - Method in class com.kuka.geometry.LocalFrame
 
setName(String) - Method in class com.kuka.geometry.ObjectFrame
Sets the name of this frame.
setName(String) - Method in class com.kuka.geometry.SpatialObject
Sets the name of the SpatialObject.
setName(String) - Method in class com.kuka.geometry.World
 
setOwnerObject(SpatialObject) - Method in class com.kuka.geometry.SpatialForm
Sets the owner object.
setRadius(double) - Method in class com.kuka.geometry.forms.Sphere
Sets the radius.
setRedundancyInformation(String, IRedundancyCollection) - Method in class com.kuka.geometry.Frame
Sets the redundancy information of this frame for a specific redundancy key.
setReferenceFrame(Frame) - Method in class com.kuka.geometry.SpatialForm
Sets the reference object frame of the spatial form.
setTag(String, Object) - Method in class com.kuka.geometry.SpatialObject
Stores data under the given key.
setTag(String, Object) - Method in class com.kuka.geometry.World
 
setTransformationFromParent(ITransformation) - Method in class com.kuka.geometry.LocalFrame
 
setTreeLock(ReentrantReadWriteLock) - Method in class com.kuka.geometry.internal.TreeLock
 
setValue(T) - Method in class com.kuka.parameters.user.internal.UserParameter
Sets the value corresponding to this user parameter.
setValue(T) - Method in interface com.kuka.parameters.user.IUserParameter
Sets the value corresponding to this user parameter.
setX(double) - Method in class com.kuka.geometry.forms.Cuboid
Sets the dimension on x-axis.
setY(double) - Method in class com.kuka.geometry.forms.Cuboid
Sets the dimension on y-axis.
setZ(double) - Method in class com.kuka.geometry.forms.Cuboid
Sets the dimension on z-axis.
size() - Method in class com.kuka.geometry.ConnectionChain
 
SpatialForm - Class in com.kuka.geometry
Base class for every spatial form.
SpatialForm() - Constructor for class com.kuka.geometry.SpatialForm
 
SpatialObject - Class in com.kuka.geometry
Represents a geometric object that may be part of a scene graph.
SpatialObject(String) - Constructor for class com.kuka.geometry.SpatialObject
Creates a new spatial object instance with given name.
SpatialObject(String, String) - Constructor for class com.kuka.geometry.SpatialObject
Creates a new spatial object instance with given name.
SpatialObjectUtils - Class in com.kuka.geometry
Provides utility methods for spatial objects.
Sphere - Class in com.kuka.geometry.forms
Implements a sphere as a spatial form.
Sphere(double) - Constructor for class com.kuka.geometry.forms.Sphere
Creates a new sphere instance with a given radius.
SphericalConnection - Class in com.kuka.geometry.forms
A spherical connection is a connection between the center of the sphere and a frame on its surface.
SphericalConnection(Sphere, double, double) - Constructor for class com.kuka.geometry.forms.SphericalConnection
Creates a new spherical connection instance.
StaticConnection - Class in com.kuka.geometry.connections
An implementation of an immutable ITransformationConnection that contains a constant, unchanging spatial transformation.
subtract(Matrix) - Method in class com.kuka.math.geometry.Matrix
Subtracts the given matrix from this one.
subtract(Point3D) - Method in class com.kuka.math.geometry.Point3D
Subtracts the given point from this point, resulting in the connecting vector pointing from the other point to this point.
subtract(Vector3D) - Method in class com.kuka.math.geometry.Vector3D
Subtracts the given vector from the values of this vector.

T

ThreadInterruptedException - Exception in com.kuka.exceptions
Unchecked equivalent for InterruptedException.
ThreadInterruptedException(String) - Constructor for exception com.kuka.exceptions.ThreadInterruptedException
Constructs a new exception with the specified detail message.
ThreadInterruptedException(String, Throwable) - Constructor for exception com.kuka.exceptions.ThreadInterruptedException
Constructs a new exception with the specified detail message and cause.
ThreadInterruptedException(Throwable) - Constructor for exception com.kuka.exceptions.ThreadInterruptedException
Constructs a new exception with the specified cause and a detail message of (cause==null ?
ThreadInterruptedException() - Constructor for exception com.kuka.exceptions.ThreadInterruptedException
Constructs a new exception with default message.
toArray() - Method in class com.kuka.math.geometry.Vector3D
Converts the Vector into an array with 3 values.
toMatrix() - Method in class com.kuka.math.geometry.MatrixBuilder
Returns a new Matrix instance from the values of this MatrixBuilder.
toRowFirstArray() - Method in class com.kuka.math.geometry.MatrixRotation
Serialization Support Serialize the MatrixRotation to a linear 9 Vector to support "rowFirstArray" (double[3][3]) Frame33 Represenations.
toRowFirstArray() - Method in class com.kuka.math.geometry.MatrixTransformation
Serialization Support Serialize the MatrixTransform to a linear 12 Vector to support "rowFirstArray" (double[3][4]) Frame34 representations.
toString() - Method in class com.kuka.geometry.connections.StaticConnection
 
toString() - Method in class com.kuka.geometry.Frame
 
toString() - Method in class com.kuka.geometry.SpatialObject
 
toString() - Method in class com.kuka.math.geometry.AbstractRotation
Returns a textual description of the rotation.
toString() - Method in class com.kuka.math.geometry.AbstractTransformation
Returns a textual description of the transformation.
toString() - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns a textual description of the rotation.
toString(NumberFormat) - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns a textual description of the rotation.
toString() - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns a textual description of the rotation.
toString(NumberFormat) - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns a textual description of the rotation.
toString() - Method in class com.kuka.math.geometry.Matrix
Returns the matrix value as a 3x3 matrix formatted in a way compatible with popular scientific numerical computing applications.
toString(NumberFormat) - Method in class com.kuka.math.geometry.Matrix
Returns the matrix value as a 3x3 matrix formatted in a way similar to popular scientific numerical computing applications.
toString() - Method in class com.kuka.math.geometry.MatrixBuilder
Returns the textual representation of current value of the MatrixBuilder in the same way as Matrix.toString().
toString() - Method in class com.kuka.math.geometry.MatrixRotation
Returns the matrix value as a 3x3 matrix formatted in a way compatible with popular scientific numerical computing applications.
toString(NumberFormat) - Method in class com.kuka.math.geometry.MatrixRotation
Returns the matrix value as a 3x3 matrix formatted in a way similar to popular scientific numerical computing applications.
toString() - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the transformation value as a homogeneous 4x4 matrix formatted in a way compatible with popular scientific numerical computing applications.
toString(NumberFormat) - Method in class com.kuka.math.geometry.MatrixTransformation
Returns the transformation value as a homogeneous 4x4 matrix formatted in a way similar to popular scientific numerical computing applications.
toString() - Method in class com.kuka.math.geometry.Point3D
Returns the point value formatted as a column vector in a way compatible with popular scientific numerical computing applications.
toString(NumberFormat) - Method in class com.kuka.math.geometry.Point3D
Returns the point value formatted as a column vector in a way similar to popular scientific numerical computing applications.
toString() - Method in class com.kuka.math.geometry.Rotation
Returns a textual description of the rotation.
toString(NumberFormat) - Method in class com.kuka.math.geometry.Rotation
Returns a textual description of the rotation.
toString() - Method in class com.kuka.math.geometry.Transformation
Returns a textual description of the transformation.
toString(NumberFormat) - Method in class com.kuka.math.geometry.Transformation
Returns a textual description of the transformation.
toString() - Method in class com.kuka.math.geometry.Vector3D
Returns the vector value formatted as a column vector in a way compatible with popular scientific numerical computing applications.
toString(NumberFormat) - Method in class com.kuka.math.geometry.Vector3D
Returns the vector value formatted as a column vector in a way similar to popular scientific numerical computing applications.
toString() - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a textual description of the transformation.
toString(NumberFormat) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a textual description of the transformation.
toString() - Method in class com.kuka.math.physics.Inertia
Returns a textual description of the inertia.
toString() - Method in class com.kuka.math.physics.LoadData
 
toVector() - Method in class com.kuka.math.geometry.Point3D
Returns this point as a vector, which is the vector pointing from the origin to this point.
toVector() - Method in class com.kuka.math.physics.Inertia
Creates a Vector3D of the inertia's values.
trace() - Method in class com.kuka.math.geometry.Matrix
Calculates the trace of this matrix, i.e. the sum of the diagonal elements.
TrafoQueryException - Exception in com.kuka.geometry.connections
TrafoQueryException is thrown if there was an error while obtaining information about transformation, more specific if there was an error while querying a sensor.
TrafoQueryException(Throwable) - Constructor for exception com.kuka.geometry.connections.TrafoQueryException
Constructor with cause.
transform(ITransformation) - Method in class com.kuka.geometry.Frame
Changes this frame's position by applying the given translation and rotation to this frame in its own coordinate system.
transform(Frame, ITransformation) - Method in class com.kuka.geometry.Frame
Changes this frame's position by applying the given translation and rotation to this frame in the coordinate system of the given reference frame.
transform(Frame, ITransformation) - Method in class com.kuka.geometry.ObjectFrame
 
Transformation - Class in com.kuka.math.geometry
An immutable representation of a spatial transformation.
transformationTo(ITransformation) - Method in class com.kuka.math.geometry.AbstractTransformation
 
transformationTo(ITransformation) - Method in interface com.kuka.math.geometry.ITransformation
Calculates the transformation needed to move this transformation into the other transformation.
transformationTo(ITransformation) - Method in class com.kuka.math.geometry.Transformation
 
transformTo(Frame) - Method in class com.kuka.geometry.Frame
Changes this frame's position and orientation in space by bringing it to the same position and orientation in space as the given target frame.
transformTo(Frame) - Method in class com.kuka.geometry.ObjectFrame
 
translate(Vector3D) - Method in class com.kuka.geometry.Frame
Changes this frame's position by translating this frame by the given amount in its own coordinate system.
translate(Frame, Vector3D) - Method in class com.kuka.geometry.Frame
Changes this frame's position by translating this frame by the given amount in the coordinate system of the given reference frame.
translateTensor(double, Vector3D) - Method in class com.kuka.math.physics.InertiaTensor
Application of Steiner's Theorem on the inertia tensor: Calculates a new tensor which belongs to an object of given mass such that it reflects the translation of the former tensor's values by the vector delta.
translateTo(Frame) - Method in class com.kuka.geometry.Frame
Changes this frame's position by bringing its origin to the same location in space as the origin of the given target frame.
translateTo(Frame) - Method in class com.kuka.geometry.ObjectFrame
 
transpose() - Method in class com.kuka.math.geometry.Matrix
Returns a new matrix which consists of the transposed values of this matrix.
TreeLock - Class in com.kuka.geometry.internal
Provides convenience methods for locking tree like data structures.
TreeLock(boolean) - Constructor for class com.kuka.geometry.internal.TreeLock
Constructor.
tryGetChild(String) - Method in class com.kuka.geometry.SpatialObject
Gets the child object with the specified path.
tryGetFrame(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches the ObjectFrame with the given path relative to the given SpatialObject.
tryGetObject(SpatialObject, String) - Static method in class com.kuka.geometry.SpatialObjectUtils
Searches the SpatialObject with the given path relative to the given SpatialObject.

U

UNIT_X - Static variable in class com.kuka.math.geometry.Vector3D
Immutable Vector3D instance representing the X unit vector.
UNIT_Y - Static variable in class com.kuka.math.geometry.Vector3D
Immutable Vector3D instance representing the Y unit vector.
UNIT_Z - Static variable in class com.kuka.math.geometry.Vector3D
Immutable Vector3D instance representing the Z unit vector.
unlock() - Method in class com.kuka.geometry.internal.MultiLock
Unlock all locks that are held by this instance.
UserParameter<T> - Class in com.kuka.parameters.user.internal
Represents the user parameters for a geometric object that may be part of the scene graph.
UserParameters - Class in com.kuka.parameters.user.internal
An implementation of the IUserParameter interface.
UserParameters() - Constructor for class com.kuka.parameters.user.internal.UserParameters
Constructor.

V

valueOf(String) - Static method in enum com.kuka.geometry.forms.CuboidVertex
Returns the enum constant of this type with the specified name.
valueOf(String) - Static method in enum com.kuka.math.geometry.CoordinateAxis
Returns the enum constant of this type with the specified name.
valueOf(String) - Static method in enum com.kuka.math.geometry.CoordinateDirection
Returns the enum constant of this type with the specified name.
valueOf(String) - Static method in enum com.kuka.math.geometry.CoordinatePlane
Returns the enum constant of this type with the specified name.
valueOf(String) - Static method in enum com.kuka.motion.MotionContainerState
Returns the enum constant of this type with the specified name.
values() - Static method in enum com.kuka.geometry.forms.CuboidVertex
Returns an array containing the constants of this enum type, in the order they are declared.
values() - Static method in enum com.kuka.math.geometry.CoordinateAxis
Returns an array containing the constants of this enum type, in the order they are declared.
values() - Static method in enum com.kuka.math.geometry.CoordinateDirection
Returns an array containing the constants of this enum type, in the order they are declared.
values() - Static method in enum com.kuka.math.geometry.CoordinatePlane
Returns an array containing the constants of this enum type, in the order they are declared.
values() - Static method in enum com.kuka.motion.MotionContainerState
Returns an array containing the constants of this enum type, in the order they are declared.
Vector3D - Class in com.kuka.math.geometry
Immutable representation of a 3-element vector consisting of x, y and z elements.

W

withAlphaRad(double) - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns a new instance (copy) of the rotation, with the α (alpha) angle replaced by the new value.
withAlphaRad(double) - Method in class com.kuka.math.geometry.Rotation
Returns a new instance (copy) of the rotation, with the α (alpha) angle replaced by the new value.
withAlphaRad(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the α (alpha) angle replaced by the new value.
withAlphaRad(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of the transformation, with the α (alpha) angle replaced by the new value.
withAngle(double) - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns a new instance (copy) of the rotation, with the angle replaced by the new value.
withAxis(Vector3D) - Method in class com.kuka.math.geometry.AxisAngleRotation
Returns a new instance (copy) of the rotation, with the rotation axis replaced by the new value.
withBetaRad(double) - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns a new instance (copy) of the rotation, with the β (beta) angle replaced by the new value.
withBetaRad(double) - Method in class com.kuka.math.geometry.Rotation
Returns a new instance (copy) of the rotation, with the β (beta) angle replaced by the new value.
withBetaRad(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the β (beta) angle replaced by the new value.
withBetaRad(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of the transformation, with the β (beta) angle replaced by the new value.
withGammaRad(double) - Method in class com.kuka.math.geometry.EulerZyxRotation
Returns a new instance (copy) of the rotation, with the γ (gamma) angle replaced by the new value.
withGammaRad(double) - Method in class com.kuka.math.geometry.Rotation
Returns a new instance (copy) of the rotation, with the γ (gamma) angle replaced by the new value.
withGammaRad(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the γ (gamma) angle replaced by the new value.
withGammaRad(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of the transformation, with the γ (gamma) angle replaced by the new value.
withJX(double) - Method in class com.kuka.math.physics.Inertia
Returns a new Inertia instance with the X inertia set to the given value.
withJY(double) - Method in class com.kuka.math.physics.Inertia
Returns a new Inertia instance with the Y inertia set to the given value.
withJZ(double) - Method in class com.kuka.math.physics.Inertia
Returns a new Inertia instance with the Z inertia set to the given value.
withRotation(IRotation) - Method in class com.kuka.math.geometry.AbstractTransformation
Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation.
withRotation(Matrix) - Method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a rotational and a translational part.
withRotation(MatrixRotation) - Method in class com.kuka.math.geometry.MatrixTransformation
Returns an immutable MatrixTransformation instance, consisting of a rotational and a translational part.
withRotation(IRotation) - Method in class com.kuka.math.geometry.Transformation
 
withRotation(Matrix) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation in matrix form.
withRotation(EulerZyxRotation) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation.
withRotationDeg(double, double, double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in degrees.
withRotationRad(double, double, double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in radians.
withTranslation(Vector3D) - Method in class com.kuka.math.geometry.AbstractTransformation
Returns a new instance (copy) of the transformation, with the translational part replaced by the given translation.
withTranslation(Vector3D) - Method in class com.kuka.math.geometry.MatrixTransformation
 
withTranslation(Vector3D) - Method in class com.kuka.math.geometry.Transformation
 
withTranslation(double, double, double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of the transformation, with the translational part replaced by the given three cartesian vector elements x, y, z.
withTranslation(Vector3D) - Method in class com.kuka.math.geometry.XyzAbcTransformation
 
withX(double) - Method in class com.kuka.math.geometry.Point3D
Returns a new instance (copy) of the point, with the x element replaced by the new value.
withX(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of this transformation where the x element of the translation part of the is replaced by the given value.
withX(double) - Method in class com.kuka.math.geometry.Vector3D
Returns a new instance (copy) of the vector, with the x element replaced by the new value.
withX(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of this transformation where the x element of the translation part of the is replaced by the given value.
withY(double) - Method in class com.kuka.math.geometry.Point3D
Returns a new instance (copy) of the point, with the y element replaced by the new value.
withY(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of this transformation where the y element of the translation part of the is replaced by the given value.
withY(double) - Method in class com.kuka.math.geometry.Vector3D
Returns a new instance (copy) of the vector, with the y element replaced by the new value.
withY(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of this transformation where the y element of the translation part of the is replaced by the given value.
withZ(double) - Method in class com.kuka.math.geometry.Point3D
Returns a new instance (copy) of the point, with the z element replaced by the new value.
withZ(double) - Method in class com.kuka.math.geometry.Transformation
Returns a new instance (copy) of this transformation where the z element of the translation part of the is replaced by the given value.
withZ(double) - Method in class com.kuka.math.geometry.Vector3D
Returns a new instance (copy) of the vector, with the z element replaced by the new value.
withZ(double) - Method in class com.kuka.math.geometry.XyzAbcTransformation
Returns a new instance (copy) of this transformation where the z element of the translation part of the is replaced by the given value.
World - Class in com.kuka.geometry
Spatial object representing World.
World() - Constructor for class com.kuka.geometry.World
Default constructor.

X

xor(ICondition) - Method in interface com.kuka.condition.ICondition
Links two conditions using a XOR connection.
XyzAbcTransformation - Class in com.kuka.math.geometry
Immutable representation of a spatial transformation as a combination of x, y, z translational elements and α, β, γ (resp.

Z

ZERO - Static variable in class com.kuka.math.geometry.Matrix
Immutable Matrix instance representing a zero 3x3 matrix.
ZERO - Static variable in class com.kuka.math.geometry.Vector3D
Immutable Vector3D instance representing a zero vector.
ZERO - Static variable in class com.kuka.math.physics.Inertia
Immutable Inertia instance representing zero inertia.
ZERO - Static variable in class com.kuka.math.physics.InertiaTensor
Immutable InertiaTensor instance representing zero inertia.
ZERO_MASS_THRESHOLD_KG - Static variable in class com.kuka.math.physics.PhysicsUtils
The default threshold in [kg] when a mass will be considered zero.

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