com.ur.urcap.api.contribution.driver.gripper

Interface GripperAPIProvider

public interface GripperAPIProvider

This interface provides access to functionality and services available from within PolyScope relevant for gripper contributions.

Since:

1.8.0

Method Summary

Modifier and Type	Method and Description
IOModel	getIOModel()
PoseFactory	getPoseFactory()
SimpleValueFactory	getSimpleValueFactory()
SystemAPI	getSystemAPI()

Method Detail

getSystemAPI

SystemAPI getSystemAPI()

Returns:

An interface providing access to system related functionality.

getPoseFactory

PoseFactory getPoseFactory()

Returns:

A pose factory to create poses (e.g. for defining the offset of TCPs)

getSimpleValueFactory

SimpleValueFactory getSimpleValueFactory()

Returns:

A value factory to create simple values (e.g. for registering gripper capabilities)

getIOModel

IOModel getIOModel()

Returns:

An I/O model interface (e.g. for getting I/Os to display in the custom user input for setting up the gripper)