com.ur.urcap.api.domain.program.nodes.builtin

Interface WaypointNode

All Superinterfaces:

ProgramNode

public interface WaypointNode
extends ProgramNode

Method Summary

Modifier and Type	Method and Description
WaypointNodeConfig	getConfig()
WaypointNodeConfigFactory	getConfigFactory()
WaypointNode	setConfig(WaypointNodeConfig config) Set a configuration on this node.

Method Detail

getConfigFactory

WaypointNodeConfigFactory getConfigFactory()

Returns:

This method returns a factory for creating various configurations for this node.

setConfig

WaypointNode setConfig(WaypointNodeConfig config)

Set a configuration on this node.

Parameters:

config - the configuration to be set.

Returns:

this node.

Throws:

IllegalArgumentException - If the configuration does not match the Move node type. e.g. trying to apply JointMotionParameters to a MoveL.

IllegalArgumentException - if inverse kinematics cannot find corresponding joint position to this pose including TCP

IllegalStateException - if called from a Swing-based URCap outside of an UndoableChanges scope (see also UndoRedoManager).

getConfig

WaypointNodeConfig getConfig()

Returns:

the current configuration for this node.