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

Interface FixedPositionWaypointNodeConfig

All Superinterfaces:

WaypointNodeConfig

All Known Subinterfaces:

FixedPositionDefinedWaypointNodeConfig

public interface FixedPositionWaypointNodeConfig
extends WaypointNodeConfig

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	FixedPositionWaypointNodeConfig.PositionDefinition

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()
FixedPositionWaypointNodeConfig.PositionDefinition	getPositionDefinition() 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

getPositionDefinition

FixedPositionWaypointNodeConfig.PositionDefinition getPositionDefinition()

Cast this instance appropriately to have access to specific getters.

Returns:

the position definition

getBlendParameters

BlendParameters getBlendParameters()

Returns:

the blend parameters for the motion

getMotionParameters

WaypointMotionParameters getMotionParameters()

Returns:

the waypoint motion parameters, e.g. speed and acceleration