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

Interface GripDetectedParameters

@ProviderType
public interface GripDetectedParameters

This interface provides parameters relevant for generating script code for the Grip Detected feedback capability (registered using GripperFeedbackCapabilities.registerGripDetectedCapability(ScriptCodeGenerator)).

These parameters are passed when PolyScope calls the implementation of the method ScriptCodeGenerator.generateScript(ScriptWriter, Object) responsible for generating the script code.

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Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
SelectableGripper	getGripperSelection() Get the individual gripper/zone selected by the end user for the grip detection.

Method Detail

getGripperSelection

SelectableGripper getGripperSelection()

Get the individual gripper/zone selected by the end user for the grip detection.

This is only valid if the contribution has registered the multi-gripper capability (using GripperCapabilities.registerMultiGripperCapability(GripperListProvider)).

Returns:

The selected individual gripper/zone to use for the grip detection

Throws:

UnsupportedOperationException - if the gripper contribution is not a multi-gripper, i.e. the multi-gripper capability has not been registered

Since:

1.11.0