@ProviderType
public interface GripActionParameters
This interface represents parameters for a gripping action defined/configured by the end user.
These parameters are used when generating script code for a gripping action (seeGripperContribution.generateGripActionScript(ScriptWriter, GripActionParameters)
).Modifier and Type | Method and Description |
---|---|
Force |
getForce()
Get the selected force to be used the gripping action.
|
SelectableGripper |
getGripperSelection()
Get the gripper selected by the end user for the grip action.
|
Speed |
getSpeed()
Get the selected speed to be used for the gripping action.
|
Pressure |
getVacuum()
Get the selected vacuum level to be used for the gripping action.
|
Length |
getWidth()
Get the selected width to be used for the gripping action.
|
boolean |
isGripDetectionEnabled()
Use this method to determine whether the grip detection option in the Gripper program node is on or off.
|
Force getForce()
Get the selected force to be used the gripping action.
This is only valid, if the force capability has been registered (using the methodGripperCapabilities.registerGrippingForceCapability(double, double, double, Force.Unit)
).UnsupportedOperationException
- if the gripper has not registered the force capabilityLength getWidth()
Get the selected width to be used for the gripping action.
This is only valid, if the width capability has been registered (using the methodGripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)
).UnsupportedOperationException
- if the gripper has not registered the width capabilityPressure getVacuum()
Get the selected vacuum level to be used for the gripping action.
This is only valid, if the vacuum capability has been registered (using the methodGripperCapabilities.registerGrippingVacuumCapability(double, double, double, Pressure.Unit)
).UnsupportedOperationException
- if the gripper has not registered the vacuum capabilitySpeed getSpeed()
Get the selected speed to be used for the gripping action.
This is only valid, if the speed capability has been registered (using the methodGripperCapabilities.registerSpeedCapability(double, double, double, double, Speed.Unit)
).UnsupportedOperationException
- if the gripper has not registered the speed capabilitySelectableGripper getGripperSelection()
Get the gripper selected by the end user for the grip action.
This is only valid if the contribution has registered the multi-gripper capability (seeGripperCapabilities.registerMultiGripperCapability(GripperListProvider)
).UnsupportedOperationException
- if the gripper contribution is not a multi-gripperboolean isGripDetectionEnabled()
Use this method to determine whether the grip detection option in the Gripper program node is on or off.
Note that this method will report that grip detection is off, when script code is to be generated due to the user testing a grip configuration of a gripper program or operating the gripper using the toolbar.
This method should only be called, if the grip detected feedback capability has been registered (using
GripperFeedbackCapabilities.registerGripDetectedCapability(ScriptCodeGenerator)
).
The purpose of this method is to ensure that the appropriate script code for performing a grip action is generated when the end user has specified a new payload value. The user-defined payload value will be applied by PolyScope immediately after the generated grip action script code has finished executing. Depending on the enablement state of grip detection, the generated script should have the following properties:
true
if the end user has enabled grip detection, and false
if grip detection is disabled.UnsupportedOperationException
- if the gripper has not registered the grip detected feedback capabilityCopyright © 2021. All rights reserved.