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

Interface CustomDecelerationParameters

All Superinterfaces:

DecelerationParameters

public interface CustomDecelerationParameters
extends DecelerationParameters

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	CustomDecelerationParameters.Type

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.untilnode.DecelerationParameters

DecelerationParameters.ParameterType

Method Summary

Modifier and Type	Method and Description
AngularAcceleration	getAngularDeceleration() The rate at which to decelerate when the until condition is met.
Acceleration	getCartesianDeceleration() The rate at which to decelerate when the until condition is met.
CustomDecelerationParameters.Type	getCurrentType()

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.untilnode.DecelerationParameters

getType

Method Detail

getCurrentType

CustomDecelerationParameters.Type getCurrentType()

Returns:

the deceleration type. This can change depending on the Move node type above the Until node.

getAngularDeceleration

AngularAcceleration getAngularDeceleration()

The rate at which to decelerate when the until condition is met.

Returns:

the specified angular deceleration of the until node (absolute value).

getCartesianDeceleration

Acceleration getCartesianDeceleration()

The rate at which to decelerate when the until condition is met.

Returns:

the specified Cartesian deceleration of the until node (absolute value).