com.ur.urcap.api.domain.program.nodes.contributable.device.gripper

Interface GripperNode

All Superinterfaces:

ProgramNode

@ProviderType
public interface GripperNode
extends ProgramNode

This interface represents a program node which can be used for programming grip and release actions with a selected gripper device.

Method Summary

Modifier and Type	Method and Description
GripActionConfigBuilder	createGripActionConfigBuilder() Creates a new GripActionConfigBuilder instance for building a single Gripper node configuration for a grip action.
ReleaseActionConfigBuilder	createReleaseActionConfigBuilder() Creates a new ReleaseActionConfigBuilder instance for building a single Gripper node configuration for a release action.
GripperNodeConfig	getConfig()
GripperDevice	getGripperDevice()
GripperNode	setConfig(GripperNodeConfig config) Sets a configuration on this node.

Method Detail

createGripActionConfigBuilder

GripActionConfigBuilder createGripActionConfigBuilder()

Creates a new GripActionConfigBuilder instance for building a single Gripper node configuration for a grip action. Each configuration being built should ideally use a new GripActionConfigBuilder instance.

Returns:

a new builder for creating a single Gripper node configuration for a grip action

createReleaseActionConfigBuilder

ReleaseActionConfigBuilder createReleaseActionConfigBuilder()

Creates a new ReleaseActionConfigBuilder instance for building a single Gripper node configuration for a release action. Each configuration being built should ideally use a new ReleaseActionConfigBuilder instance.

Returns:

a new builder for creating a single Gripper node configuration for a release action

getGripperDevice

GripperDevice getGripperDevice()

Returns:

the gripper device used by this Gripper node

getConfig

GripperNodeConfig getConfig()

Returns:

the current configuration for this node

setConfig

GripperNode setConfig(GripperNodeConfig config)

Sets a configuration on this node.

Parameters:

config - the configuration to be set.

Returns:

this node