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

Interface WaypointNodeConfigFactory

@ProviderType
public interface WaypointNodeConfigFactory

Method Summary

Modifier and Type	Method and Description
FixedPositionWaypointNodeConfig	createFixedPositionConfig() Creates a fixed position configuration with default values for a waypoint.
FixedPositionWaypointNodeConfig	createFixedPositionConfig(BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint without a defined pose.
FixedPositionDefinedWaypointNodeConfig	createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.
FixedPositionDefinedWaypointNodeConfig	createFixedPositionConfig(PositionParameters positionParameters, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.
JointMotionParameters	createJointMotionParameters(AngularSpeed jointSpeed, ErrorHandler<AngularSpeed> jointSpeedErrorHandler, AngularAcceleration jointAcceleration, ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler) Creates joint motion parameters for a waypoint.
BlendParameters	createNoBlendParameters() Creates no blend parameters for a waypoint.
BlendParameters	createSharedBlendParameters() Creates shared blend parameters for a waypoint.
WaypointMotionParameters	createSharedMotionParameters() Creates shared motion parameters for a waypoint.
TimeMotionParameters	createTimeMotionParameters(Time duration, ErrorHandler<Time> errorHandler)
ToolMotionParameters	createToolMotionParameters(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler, Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler) Creates tool motion parameters for a waypoint.
VariablePositionWaypointNodeConfig	createVariablePositionConfig() Creates a variable position configuration with default values for a waypoint
VariablePositionWaypointNodeConfig	createVariablePositionConfig(BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a variable position configuration for a waypoint without a defined variable
VariablePositionDefinedWaypointNodeConfig	createVariablePositionConfig(Variable variable, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a variable position configuration for a waypoint with a defined variable
WaypointBlendParameters	createWaypointBlendParameter(Blend suggestedBlend) Creates blend parameters for a waypoint.

Method Detail

createNoBlendParameters

BlendParameters createNoBlendParameters()

Creates no blend parameters for a waypoint. The waypoint will not use blending.

Can be used for waypoints under a MoveJ and a MoveL.

Returns:

the blend parameters for the waypoint.

createSharedBlendParameters

BlendParameters createSharedBlendParameters()

Creates shared blend parameters for a waypoint. The waypoint will use the blend defined by the parent MoveP node.

Returns:

the blend parameter for the waypoint.

createWaypointBlendParameter

WaypointBlendParameters createWaypointBlendParameter(Blend suggestedBlend)

Creates blend parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or MoveP.

Parameters:

suggestedBlend - This blend may be (automatically) corrected depending on surrounding waypoints in the program tree, not null.

Returns:

the blend parameters for the waypoint.

createSharedMotionParameters

WaypointMotionParameters createSharedMotionParameters()

Creates shared motion parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or a MoveP.

Returns:

the motion parameters for the waypoint.

createTimeMotionParameters

TimeMotionParameters createTimeMotionParameters(Time duration,
                                                ErrorHandler<Time> errorHandler)

Creates time motion parameters for a waypoint.

Can be used for waypoints under a MoveJ or a MoveL.

Parameters:

duration - the time the movement should take, not null.

errorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid time value.

Returns:

the time motion parameters for the waypoint.

createJointMotionParameters

JointMotionParameters createJointMotionParameters(AngularSpeed jointSpeed,
                                                  ErrorHandler<AngularSpeed> jointSpeedErrorHandler,
                                                  AngularAcceleration jointAcceleration,
                                                  ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)

Creates joint motion parameters for a waypoint.

Can be used for waypoints under a MoveJ.

Parameters:

jointSpeed - the joint speed to be achieved, not null.

jointSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint speed value.

jointAcceleration - the joint acceleration to be used for the movement, not null.

jointAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint acceleration value.

Returns:

the joint motion parameters for the waypoint.

createToolMotionParameters

ToolMotionParameters createToolMotionParameters(Speed toolSpeed,
                                                ErrorHandler<Speed> toolSpeedErrorHandler,
                                                Acceleration toolAcceleration,
                                                ErrorHandler<Acceleration> toolAccelerationErrorHandler)

Creates tool motion parameters for a waypoint.

Can be used for waypoints under a MoveL or a MoveP.

Parameters:

toolSpeed - the tool speed to be achieved, not null.

toolSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.

toolAcceleration - the tool acceleration to be used for the movement, not null.

toolAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

Returns:

the tool motion parameters for the waypoint.

createFixedPositionConfig

FixedPositionWaypointNodeConfig createFixedPositionConfig()

Creates a fixed position configuration with default values for a waypoint.

Note that these default values may change between PolyScope versions.

Returns:

the waypoint configuration.

createFixedPositionConfig

FixedPositionWaypointNodeConfig createFixedPositionConfig(BlendParameters blendParameters,
                                                          WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint without a defined pose.

Parameters:

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createFixedPositionConfig

FixedPositionDefinedWaypointNodeConfig createFixedPositionConfig(Pose poseIncludingTcp,
                                                                 JointPositions qNear,
                                                                 BlendParameters blendParameters,
                                                                 WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters:

poseIncludingTcp - the position and orientation for the waypoint, not null.

qNear - the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createFixedPositionConfig

FixedPositionDefinedWaypointNodeConfig createFixedPositionConfig(PositionParameters positionParameters,
                                                                 BlendParameters blendParameters,
                                                                 WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters:

positionParameters - parameters defining the robot position retrieved from a RobotPositionCallback2 implementation (submitted to the UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback2) method), not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createVariablePositionConfig

VariablePositionWaypointNodeConfig createVariablePositionConfig()

Creates a variable position configuration with default values for a waypoint

Note that these default values may change between PolyScope versions.

Returns:

the waypoint configuration.

createVariablePositionConfig

VariablePositionWaypointNodeConfig createVariablePositionConfig(BlendParameters blendParameters,
                                                                WaypointMotionParameters waypointMotionParameters)

Creates a variable position configuration for a waypoint without a defined variable

Parameters:

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createVariablePositionConfig

VariablePositionDefinedWaypointNodeConfig createVariablePositionConfig(Variable variable,
                                                                       BlendParameters blendParameters,
                                                                       WaypointMotionParameters waypointMotionParameters)

Creates a variable position configuration for a waypoint with a defined variable

Parameters:

variable - the variable position and orientation for the waypoint, not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.