@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.
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.
|
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.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 flangeIllegalTCPNameException
- 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.void updateTCP(Pose tcpPose)
tcpPose
- The pose for the new offset to set for the TCP with respect to the tool output flange.void removeTCP()
TCP getTCP()
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