Uses of Interface
com.ur.urcap.api.domain.value.jointposition.JointPositions

Packages that use JointPositions

Package	Description
com.ur.urcap.api.domain.data
com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode
com.ur.urcap.api.domain.userinteraction
com.ur.urcap.api.domain.userinteraction.robot.movement
com.ur.urcap.api.domain.value.jointposition
com.ur.urcap.api.domain.value.robotposition

Uses of JointPositions in com.ur.urcap.api.domain.data

Methods in com.ur.urcap.api.domain.data that return JointPositions

Modifier and Type	Method and Description
JointPositions	DataModel.get(String key, JointPositions defaultValue) Get the JointPositions value assigned to the specified key.

Methods in com.ur.urcap.api.domain.data with parameters of type JointPositions

Modifier and Type	Method and Description
JointPositions	DataModel.get(String key, JointPositions defaultValue) Get the JointPositions value assigned to the specified key.
void	DataModel.set(String key, JointPositions value) Assign a JointPositions value to the specified key.

Uses of JointPositions in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode that return types with arguments of type JointPositions

Modifier and Type	Method and Description
Optional<JointPositions>	FixedPositionDefinedWaypointNodeConfig.getJointPositions() This method returns the joint positions corresponding to the defined Cartesian location of the waypoint (accessible through FixedPositionDefinedWaypointNodeConfig.getPose()).

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode with parameters of type JointPositions

Modifier and Type	Method and Description
FixedPositionDefinedWaypointNodeConfig	WaypointNodeConfigFactory.createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Deprecated. Use the WaypointNodeConfigFactory.createFixedPositionConfig(Pose, JointPositions, Pose, BlendParameters, WaypointMotionParameters) instead.
FixedPositionDefinedWaypointNodeConfig	WaypointNodeConfigFactory.createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, Pose tcpOffset, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.

Uses of JointPositions in com.ur.urcap.api.domain.userinteraction

Methods in com.ur.urcap.api.domain.userinteraction with parameters of type JointPositions

Modifier and Type	Method and Description
abstract void	RobotPositionCallback.onOk(Pose pose, JointPositions q) Deprecated. This method is called if the end user accepts the robot position.

Uses of JointPositions in com.ur.urcap.api.domain.userinteraction.robot.movement

Methods in com.ur.urcap.api.domain.userinteraction.robot.movement with parameters of type JointPositions

Modifier and Type	Method and Description
void	RobotMovement.requestUserToMoveRobot(JointPositions q, RobotMovementCallback callback) Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.

Uses of JointPositions in com.ur.urcap.api.domain.value.jointposition

Methods in com.ur.urcap.api.domain.value.jointposition that return JointPositions

Modifier and Type	Method and Description
JointPositions	JointPositionFactory.createJointPositions(double base, double shoulder, double elbow, double wrist1, double wrist2, double wrist3, Angle.Unit unit) Creates a JointPositions object with six revolute joints using the provided angles and unit type.

Methods in com.ur.urcap.api.domain.value.jointposition with parameters of type JointPositions

Modifier and Type	Method and Description
boolean	JointPositions.epsilonEquals(JointPositions other, double epsilon, Angle.Unit unit) Indicates whether each element of some other JointPositions object is "approximately equal" to this one.

Uses of JointPositions in com.ur.urcap.api.domain.value.robotposition

Methods in com.ur.urcap.api.domain.value.robotposition that return JointPositions

Modifier and Type	Method and Description
JointPositions	PositionParameters.getJointPositions()