com.ur.urcap.api.domain.value

Interface PoseFactory

public interface PoseFactory

This interface provides methods for creating poses in Cartesian space (relative to a reference coordinate system).

A pose can, e.g. describe the position of the robot tool (e.g. w.r.t. to robot base) or the TCP offset (relative to the center of the tool output flange).

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 with the specified Cartesian position and orientation (rotation)

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 with the specified Cartesian position and orientation (rotation)

Parameters:

x - X coordinate of the position

y - Y coordinate of the position

z - Z coordinate of the position

rx - Rx parameter of the rotation vector specifying the orientation

ry - Ry parameter of the rotation vector specifying the orientation

rz - Rz parameter of the rotation vector specifying the orientation

lengthUnit - type of unit for the position

angleUnit - type of unit for the rotation

Returns:

a new pose