com.ur.urcap.api.domain.value

Interface PoseFactory

public interface PoseFactory

Method Summary

Modifier and Type	Method and Description
Pose	createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit, Angle.Unit angleUnit) Creates a Pose object for the position and rotation of the robot tool

Method Detail

createPose

Pose createPose(double x,
                double y,
                double z,
                double rx,
                double ry,
                double rz,
                Length.Unit lengthUnit,
                Angle.Unit angleUnit)

Creates a Pose object for the position and rotation of the robot tool

Parameters:

x - position of the tool

y - position of the tool

z - position of the tool

rx - rotation of the tool

ry - rotation of the tool

rz - rotation of the tool

lengthUnit - enum to specify the position unit type

angleUnit - enum to specify the rotation unit type

Returns:

the Pose