Deprecated List (api 1.9.0 API)

Deprecated Interfaces
Interface and Description
com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.MoveNodeConfigFactory Use the configuration builders available in `MoveNodeConfigBuilders` interface which is accessible through `MoveNode.getConfigBuilders()`.

Deprecated Methods
Method and Description
com.ur.urcap.api.domain.value.Pose.epsilonEquals(Pose, double) Use `Pose.epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)` instead.
com.ur.urcap.api.domain.program.nodes.builtin.MoveNode.getConfigFactory() Use `MoveNode.getConfigBuilders()` instead.
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.getExpression() Use `ElseIfNode.getExpression2()` instead.
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.getExpression() Use `IfNode.getExpression2()` instead.
com.ur.urcap.api.domain.URCapAPI.getFeatures() Use `InstallationAPI` or `ProgramAPI` instead accessible through their respective providers, i.e. `URCapAPI.getInstallationAPIProvider()` or `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getFunctionModel() Use `InstallationAPI` instead accessible through its provider, `URCapAPI.getInstallationAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getInstallationNode(Class<T>) Use `InstallationAPI` or `ProgramAPI` instead accessible through their respective providers.
com.ur.urcap.api.domain.URCapAPI.getIOs() Use `InstallationAPI` or `ProgramAPI` instead accessible through their respective providers, i.e. `URCapAPI.getInstallationAPIProvider()` or `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint1() Please use `Feature.getPose()` instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeatureLine.getPoint1() Please use `Feature.getPose()` instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint2() Please use `Feature.getPose()` instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeatureLine.getPoint2() Please use `Feature.getPose()` instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint3() Please use `Feature.getPose()` instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.URCapAPI.getProgramModel() Use `ProgramAPI` instead accessible through its provider, `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getRobotModel() Use `SystemAPI` instead accessible through both `URCapAPI.getInstallationAPIProvider()` and `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.value.Rotation.getRX() Use `Rotation.getRX(Angle.Unit)` instead.
com.ur.urcap.api.domain.value.Rotation.getRY() Use `Rotation.getRY(Angle.Unit)` instead.
com.ur.urcap.api.domain.value.Rotation.getRZ() Use `Rotation.getRZ(Angle.Unit)` instead.
com.ur.urcap.api.domain.URCapAPI.getSoftwareVersion() Use `SystemAPI` instead accessible through both `URCapAPI.getInstallationAPIProvider()` and `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getSystemSettings() Use `SystemAPI` instead accessible through both `URCapAPI.getInstallationAPIProvider()` and `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPIFacade.getURCapAPI() Please use `URCapAPIFacade.getSystemAPI()` instead.
com.ur.urcap.api.domain.URCapAPI.getUserInteraction() Use `UserInterfaceAPI` instead accessible through both `URCapAPI.getInstallationAPIProvider()` and `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getValueFactoryProvider() Use `InstallationAPI` or `ProgramAPI` instead accessible through their respective providers, i.e. `URCapAPI.getInstallationAPIProvider()` or `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.URCapAPI.getVariableModel() Use `InstallationAPI` or `ProgramAPI` instead accessible through their respective providers, i.e. `URCapAPI.getInstallationAPIProvider()` or `URCapAPI.getProgramAPIProvider()`.
com.ur.urcap.api.domain.value.Position.getX() Use `Position.getX(Length.Unit)` instead.
com.ur.urcap.api.domain.value.Position.getY() Use `Position.getY(Length.Unit)` instead.
com.ur.urcap.api.domain.value.Position.getZ() Use `Position.getZ(Length.Unit)` instead.
com.ur.urcap.api.domain.script.ScriptWriter.globalVariable(String, String) Use `ScriptWriter.assign(Variable variable, String expression)` instead.
com.ur.urcap.api.domain.script.ScriptWriter.set_payload(double) In the script code generated by this method, the 'set_payload(m, cog)' script function will be called without specifying the optional 'cog' parameter. This means that the currently active TCP will be used as Center of Gravity (CoG) with the side effect that later calls to the 'set_tcp()' script function will also change the CoG to the new TCP. Use `ScriptWriter.set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ)` instead.
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.setExpression(String) Use `ExpressionBuilder` instead to build an `Expression` and set it using `ElseIfNode.setExpression(Expression expression)`.
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.setExpression(String) Use `ExpressionBuilder` instead to build an `Expression` and set it using `IfNode.setExpression(Expression expression)`.
com.ur.urcap.api.domain.value.Pose.toArray() Use `Pose.toArray(Length.Unit, Angle.Unit)` instead.

Deprecated API

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