com.ur.urcap.api.contribution.driver.general.tcp

Interface TCPConfiguration

public interface TCPConfiguration

With this interface, it it possible to add a TCP for a device to PolyScope as well as update the TCP's offset and remove the TCP again.

Method Summary

Modifier and Type	Method and Description
void	removeTCP() Remove the TCP of the device.
void	setTCP(String tcpName, Pose tcpPose) Add a TCP for the device to PolyScope.
void	updateTCP(Pose tcpPose) Update the offset of the device's TCP.

Method Detail

setTCP

void setTCP(String tcpName,
            Pose tcpPose)

Add a TCP for the device to PolyScope.

There can only exist one TCP for the device. If a TCP has already been defined, it will be overwritten with the new TCP.

Parameters:

tcpName - The name of the TCP for the device

tcpPose - A pose for the offset of the TCP with respect to the tool output flange

updateTCP

void updateTCP(Pose tcpPose)

Update the offset of the device's TCP.

Parameters:

tcpPose - The pose for the new offset to set for the TCP with respect to the tool output flange.

removeTCP

void removeTCP()

Remove the TCP of the device.