Deprecated API

Contents

• Deprecated Methods

Deprecated Methods

Method and Description
com.ur.urcap.api.domain.value.Pose.epsilonEquals(Pose, double) Use Pose.epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.getExpression() Use ElseIfNode.getExpression2() instead
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.getExpression() Use IfNode.getExpression2() instead
com.ur.urcap.api.domain.URCapAPI.getFeatures() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getFunctionModel() Use InstallationAPI accessible through its provider, URCapAPI.getInstallationAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getInstallationNode(Class<T>) Use InstallationAPI or ProgramAPI accessible through their respective providers. This method can be used to get a specific InstallationNodeContribution instance
com.ur.urcap.api.domain.URCapAPI.getIOs() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getProgramModel() Use ProgramAPI accessible through its provider, URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getRobotModel() Use SystemAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.value.Rotation.getRX() Use Rotation.getRX(Angle.Unit)
com.ur.urcap.api.domain.value.Rotation.getRY() Use Rotation.getRY(Angle.Unit)
com.ur.urcap.api.domain.value.Rotation.getRZ() Use Rotation.getRZ(Angle.Unit)
com.ur.urcap.api.domain.URCapAPI.getSoftwareVersion() Use SystemAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.URCapAPI.getSystemSettings() Use SystemAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.URCapAPIFacade.getURCapAPI() Please use URCapAPIFacade.getSystemAPI() instead
com.ur.urcap.api.domain.URCapAPI.getUserInteraction() Use UserInterfaceAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.URCapAPI.getValueFactoryProvider() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getVariableModel() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.value.Position.getX() Use Position.getX(Length.Unit)
com.ur.urcap.api.domain.value.Position.getY() Use Position.getY(Length.Unit)
com.ur.urcap.api.domain.value.Position.getZ() Use Position.getZ(Length.Unit)
com.ur.urcap.api.domain.script.ScriptWriter.globalVariable(String, String) Use ScriptWriter.assign(Variable variable, String expression) instead Global variable assignment.
com.ur.urcap.api.domain.script.ScriptWriter.set_payload(double) In the script code generated by this method, the 'set_payload(m, cog)' script function will be called without specifying the optional 'cog' parameter. This means that the currently active TCP will be used as Center of Gravity (CoG) with the side effect that later calls to the 'set_tcp()' script function will also change the CoG to the new TCP. Use ScriptWriter.set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ) instead. Sets the payload mass. This function must be called, when the payload weight or weight distribution changes significantly - I.e when the robot picks up or puts down a heavy workpiece.
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.setExpression(String) Use ExpressionBuilder to build an Expression and set it using ElseIfNode.setExpression(Expression expression)
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.setExpression(String) Use ExpressionBuilder to build an Expression and set it using IfNode.setExpression(Expression expression)
com.ur.urcap.api.domain.value.Pose.toArray() Use Pose.toArray(Length.Unit, Angle.Unit)