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

Interface TCPConfiguration

@ProviderType
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
TCP	getTCP()
void	removeTCP() Remove the TCP of the device.
void	setTCP(String suggestedName, 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 suggestedName,
            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:

suggestedName - Suggested name for the TCP. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the TCP instance (see getTCP()).

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

Throws:

IllegalTCPNameException - If the suggested name does not match required regex.

IllegalArgumentException - If the pose specified for the offset is not inside the valid range of a TCP offset as defined by PolyScope.

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.

getTCP

TCP getTCP()

Returns:

the TCP instance