com.ur.urcap.api.contribution.driver.gripper.capability

Interface GripForceCapability

public interface GripForceCapability

This interface represents a registered force capability for a gripper which supports gripping using a user configurable force.

Through this interface, it is possible to adjust the range and default value for the force after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

Method Summary

Modifier and Type	Method and Description
void	updateCapability(double minForce, double maxForce, double defaultGripForce, Force.Unit unit) Update the range and default value for the force supported by the gripper.

Method Detail

updateCapability

void updateCapability(double minForce,
                      double maxForce,
                      double defaultGripForce,
                      Force.Unit unit)

Update the range and default value for the force supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

Parameters:

minForce - minimum force supported by the gripper

maxForce - maximum force supported by the gripper

defaultGripForce - default value for the force for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

unit - the unit for all specified values, null

Throws:

InvalidCapabilityRange - if minForce > maxForce or defaultGripForce is outside the range defined by minForce and maxForce