com.ur.urcap.api.domain.value.jointposition

Interface JointPositionFactory

public interface JointPositionFactory

This interface supplies methods for creating an object containing the positions of each of the robot arm's joints. This is also referred to as a joint configuration.

Method Summary

Modifier and Type	Method and Description
JointPositions	createJointPositions(double base, double shoulder, double elbow, double wrist1, double wrist2, double wrist3, Angle.Unit unit) Creates a JointPositions object with six revolute joints using the provided angles and unit type

Method Detail

createJointPositions

JointPositions createJointPositions(double base,
                                    double shoulder,
                                    double elbow,
                                    double wrist1,
                                    double wrist2,
                                    double wrist3,
                                    Angle.Unit unit)

Creates a JointPositions object with six revolute joints using the provided angles and unit type

Parameters:

base - Base joint position

shoulder - Shoulder joint position

elbow - Elbow joint position

wrist1 - Wrist1 joint position

wrist2 - Wrist2 joint position

wrist3 - Wrist3 joint position

unit - the unit type for all the joint position arguments

Returns:

a new JointPositions object