com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode

Interface VariablePositionWaypointNodeConfig

All Superinterfaces:

WaypointNodeConfig

All Known Subinterfaces:

VariablePositionDefinedWaypointNodeConfig

public interface VariablePositionWaypointNodeConfig
extends WaypointNodeConfig

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	VariablePositionWaypointNodeConfig.VariableDefinition

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointNodeConfig

WaypointNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
BlendParameters	getBlendParameters()
WaypointMotionParameters	getMotionParameters()
VariablePositionWaypointNodeConfig.VariableDefinition	getVariableDefinition() Cast this instance appropriately to have access to specific getters.

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointNodeConfig

getConfigType

Method Detail

getVariableDefinition

VariablePositionWaypointNodeConfig.VariableDefinition getVariableDefinition()

Cast this instance appropriately to have access to specific getters.

Returns:

the variable definition

getBlendParameters

BlendParameters getBlendParameters()

Returns:

the blend parameters for the motion

getMotionParameters

WaypointMotionParameters getMotionParameters()

Returns:

the waypoint motion parameters, e.g speed and acceleration