public interface GripActionParameters
This interface represents parameters for a gripping action defined/configured by the end user.
These parameters are used when generating script code for a gripping action (seeGripperContribution.generateGripActionScript(ScriptWriter, GripActionParameters)
).Modifier and Type | Method and Description |
---|---|
Force |
getForce()
Get the selected force to be used the gripping action.
|
Speed |
getSpeed()
Get the selected speed to be used for the gripping action.
|
Pressure |
getVacuum()
Get the selected vacuum level to be used for the gripping action.
|
Length |
getWidth()
Get the selected width to be used for the gripping action.
|
Force getForce()
Get the selected force to be used the gripping action.
This is only valid, if the force capability has been registered (using the methodGripperCapabilities.registerGrippingForceCapability(double, double, double, Force.Unit)
).UnsupportedOperationException
- if the gripper has not registered the force capabilityLength getWidth()
Get the selected width to be used for the gripping action.
This is only valid, if the width capability has been registered (using the methodGripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)
).UnsupportedOperationException
- if the gripper has not registered the width capabilityPressure getVacuum()
Get the selected vacuum level to be used for the gripping action.
This is only valid, if the vacuum capability has been registered (using the methodGripperCapabilities.registerGrippingVacuumCapability(double, double, double, Pressure.Unit)
).UnsupportedOperationException
- if the gripper has not registered the vacuum capabilitySpeed getSpeed()
Get the selected speed to be used for the gripping action.
This is only valid, if the speed capability has been registered (using the methodGripperCapabilities.registerSpeedCapability(double, double, double, double, Speed.Unit)
).UnsupportedOperationException
- if the gripper has not registered the speed capabilityCopyright © 2019. All rights reserved.