com.ur.urcap.api.domain.userinteraction

Class RobotPositionCallback

java.lang.Object

com.ur.urcap.api.domain.userinteraction.RobotPositionCallback

public abstract class RobotPositionCallback
extends Object

The robot position callback. Override this abstract class to execute custom code when the end user accepts or cancels inputting a robot position.

Constructor Summary

Constructors

Constructor and Description
RobotPositionCallback()

Method Summary

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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RobotPositionCallback

public RobotPositionCallback()

Method Detail

onOk

public abstract void onOk(Pose pose,
                          JointPositions q)

This method is called if the end user accepts the robot position. Overriding this method is mandatory.

Parameters:

pose - the pose of the robot.

q - the joint positions of the robot.

onCancel

public void onCancel()

This method is called if the end user cancels inputting the robot position. Overriding this method is optional.