com.ur.urcap.api.domain.payload

Interface Payload

@ProviderType
public interface Payload

This interface represents a payload from the installation in PolyScope. This can either be a user-defined payload or a payload added by a URCap.

Since:

1.13.0

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Payload.ParametersWarning This enum represents the different types of warnings that the parameters of a payload can have.

Method Summary

Modifier and Type	Method and Description
Position	getCenterOfGravity() Gets the payload's center of gravity (CoG), also referred to as center of mass.
String	getDisplayName() Gets the name of the payload displayed in the PolyScope UI.
InertiaMatrix	getInertiaMatrix() Gets the inertia matrix of the payload.
Mass	getMass()
Payload.ParametersWarning	getParametersWarning() Use this method to check if the parameters of this payload have any warnings.
boolean	isResolvable() A payload cannot be guaranteed to be present in PolyScope.
boolean	isUsable() Use this method to determine if the payload can be used.

Method Detail

getMass

Mass getMass()

Returns:

The total mass of the payload (attached to the tool output flange of the robot)

getCenterOfGravity

Position getCenterOfGravity()

Gets the payload's center of gravity (CoG), also referred to as center of mass. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.

Returns:

The center of gravity (CoG) of the payload relative to the center of the tool output flange

getInertiaMatrix

InertiaMatrix getInertiaMatrix()

Gets the inertia matrix of the payload. The inertia matrix is defined in a coordinate system with center at the payload's center of gravity (CoG) and the axes aligned with the tool output flange coordinate system (axes).

Note: The inertia matrix specified by the end user can be invalid. The isUsable() method can be used determine, if the payload can be used (i.e., has a valid inertia matrix).

Returns:

The inertia matrix of the payload

getDisplayName

String getDisplayName()

Gets the name of the payload displayed in the PolyScope UI.

Note: The payload can change name at any time, and thus the name must not be used to uniquely identify a specific payload. The payload name can change in the following situations:

• The payload is renamed by the end user
• The name gets translated (depending on the selected language in PolyScope)
• The name is changed between versions of the URCap that added the payload

Returns:

The name of the payload displayed in PolyScope

isResolvable

boolean isResolvable()

A payload cannot be guaranteed to be present in PolyScope. This method can be used to determine, if the payload is present.

The payload will not be present, if the end user loads a different installation which does not contain the payload, or if the payload is removed by the end user or the URCap that added the payload.

Note: Storing an undefined payload in a program node contribution's (a ProgramNodeContribution instance) data model (DataModel interface) will automatically make the program node (and the program) undefined.

Returns:

true if this payload is present in PolyScope, otherwise false.

isUsable

boolean isUsable()

Use this method to determine if the payload can be used. An unresolvable payload (see the isResolvable() method) will always be unusable.

A payload can have an invalid inertia matrix, where all the individual values of the matrix are within the valid range, but the combination of values is invalid.

Note: Storing an unusable payload in a program node contribution's (a ProgramNodeContribution instance) data model (DataModel interface) will automatically make the program node (and the program) undefined.

Returns:

true, if the payload is usable, otherwise false. false will always be returned when the payload is unresolvable (see the isResolvable() method).

getParametersWarning

Payload.ParametersWarning getParametersWarning()

Use this method to check if the parameters of this payload have any warnings.

A payload can be usable, but may have a value for a payload parameter or may have a combination of (some of the) payload parameters, that could affect performance of the robot, if the payload is used (i.e., if the parameters are applied).

An unresolvable payload (see isResolvable()) will have no warning for its parameters (i.e. Payload.ParametersWarning.NO_WARNING is returned).

Returns:

The warning (if any) for the parameters of this payload.