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

Interface ReleaseDetectedParameters

@ProviderType
public interface ReleaseDetectedParameters

This interface provides parameters relevant for generating script code for the Release Detected feedback capability (registered using GripperFeedbackCapabilities.registerReleaseDetectedCapability(ScriptCodeGenerator)).

These parameters are passed when PolyScope calls the implementation of the method ScriptCodeGenerator.generateScript(ScriptWriter, Object) responsible for generating the script code.

Method Summary

Modifier and Type	Method and Description
SelectableGripper	getGripperSelection() Get the individual gripper/zone selected by the end user for the release detection.

Method Detail

getGripperSelection

SelectableGripper getGripperSelection()

Get the individual gripper/zone selected by the end user for the release detection.

This is only valid if the has registered the multi-gripper capability (using GripperCapabilities.registerMultiGripperCapability(GripperListProvider)).

Returns:

The selected individual gripper/zone to use for the release detection

Throws:

UnsupportedOperationException - if the gripper contribution is not a multi-gripper, i.e. the multi-gripper capability has not been registered