Uses of Interface
com.ur.urcap.api.domain.value.Pose

Packages that use Pose

Package	Description
com.ur.urcap.api.domain.data
com.ur.urcap.api.domain.feature
com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode
com.ur.urcap.api.domain.tcp
com.ur.urcap.api.domain.userinteraction
com.ur.urcap.api.domain.userinteraction.robot.movement
com.ur.urcap.api.domain.value

Uses of Pose in com.ur.urcap.api.domain.data

Methods in com.ur.urcap.api.domain.data that return Pose

Modifier and Type	Method and Description
Pose	DataModel.get(String key, Pose defaultValue) Get the Pose value assigned to the specified key.

Methods in com.ur.urcap.api.domain.data with parameters of type Pose

Modifier and Type	Method and Description
Pose	DataModel.get(String key, Pose defaultValue) Get the Pose value assigned to the specified key.
void	DataModel.set(String key, Pose value) Assign a Pose value to the specified key.

Uses of Pose in com.ur.urcap.api.domain.feature

Methods in com.ur.urcap.api.domain.feature that return Pose

Modifier and Type	Method and Description
Pose	Feature.getPose() Returns the actual Cartesian location of the feature

Uses of Pose in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode that return Pose

Modifier and Type	Method and Description
Pose	FixedPositionDefinedWaypointNodeConfig.getPose()

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode with parameters of type Pose

Modifier and Type	Method and Description
FixedPositionDefinedWaypointNodeConfig	WaypointNodeConfigFactory.createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.

Uses of Pose in com.ur.urcap.api.domain.tcp

Methods in com.ur.urcap.api.domain.tcp that return Pose

Modifier and Type	Method and Description
Pose	TCP.getOffset()

Methods in com.ur.urcap.api.domain.tcp with parameters of type Pose

Modifier and Type	Method and Description
TCP	TCPContributionModel.addTCP(String idKey, String suggestedName, Pose offset) Add a TCP to the current PolyScope installation.
void	TCPContributionModel.updateTCP(String idKey, Pose newOffset) Update the offset of a TCP already added by this URCap.

Uses of Pose in com.ur.urcap.api.domain.userinteraction

Methods in com.ur.urcap.api.domain.userinteraction with parameters of type Pose

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

Uses of Pose in com.ur.urcap.api.domain.userinteraction.robot.movement

Methods in com.ur.urcap.api.domain.userinteraction.robot.movement with parameters of type Pose

Modifier and Type	Method and Description
void	RobotMovement.requestUserToMoveRobot(Pose pose, RobotMovementCallback callback) Transition to the Automove screen to allow/request the user to move the robot (either automatically or manually) to a desired target position specified by a pose.

Uses of Pose in com.ur.urcap.api.domain.value

Methods in com.ur.urcap.api.domain.value that return Pose

Modifier and Type	Method and Description
Pose	PoseFactory.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)

Methods in com.ur.urcap.api.domain.value with parameters of type Pose

Modifier and Type	Method and Description
boolean	Pose.epsilonEquals(Pose other, double epsilon) Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)
boolean	Pose.epsilonEquals(Pose other, double lengthEpsilon, Length.Unit lengthUnit, double angleEpsilon, Angle.Unit angleUnit) Indicates whether some other Pose is "approximately equal" to this one.