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

Interface RegisteredCapabilities

public interface RegisteredCapabilities

Each of the individual grippers/zones available in a multi-gripper device supports all capabilities that has been registered, i.e. all the individual grippers have the exact same set of capabilities. This interface gives access to all registered capabilities, such as the width capability (see WidthCapability), speed capability (see SpeedCapability), etc. This enables dynamic adjustment of capability properties, including the value range and default values, exclusively per individual gripper (independently of the other grippers).

This interface is only relevant if the multi-gripper capability has been registered (using the method GripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)).

Each capability must be registered using the GripperCapabilities interface (when GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) is called) before they can be accessed using this interface.

NOTE: If an update of the properties of a capability needs to apply for all individual grippers, it is more convenient to perform the adjustment simultaneously for all grippers using the capability instance (e.g. WidthCapability) returned when the capability was registered (with the GripperCapabilities interface).

Method Summary

Modifier and Type	Method and Description
GripForceCapability	getGripForceCapability() Access the grip force capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
GripVacuumCapability	getGripVacuumCapability() Access the grip vacuum capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
SpeedCapability	getSpeedCapability() Access the speed capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
WidthCapability	getWidthCapability() Access the width capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.

Method Detail

getWidthCapability

WidthCapability getWidthCapability()

Access the width capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.

This is only valid, if the width capability has been registered (using the method GripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)).

Returns:

The width capability for this individual gripper

Throws:

UnsupportedOperationException - if the gripper has not registered the width capability

getGripForceCapability

GripForceCapability getGripForceCapability()

Access the grip force capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.

This is only valid, if the force capability has been registered (using the method GripperCapabilities.registerGrippingForceCapability(double, double, double, Force.Unit)).

Returns:

The grip force capability for this individual gripper

Throws:

UnsupportedOperationException - if the gripper has not registered the force capability

getSpeedCapability

SpeedCapability getSpeedCapability()

Access the speed capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.

This is only valid, if the speed capability has been registered (using the method GripperCapabilities.registerSpeedCapability(double, double, double, double, Speed.Unit)).

Returns:

The speed capability for this individual gripper

Throws:

UnsupportedOperationException - if the gripper has not registered the speed capability

getGripVacuumCapability

GripVacuumCapability getGripVacuumCapability()

Access the grip vacuum capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.

This is only valid, if the vacuum capability has been registered (using the method GripperCapabilities.registerGrippingVacuumCapability(double, double, double, Pressure.Unit)).

Returns:

The grip vacuum capability for this individual gripper

Throws:

UnsupportedOperationException - if the gripper has not registered the vacuum capability