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

Interface GripperNodeConfigBuilders

@ProviderType
public interface GripperNodeConfigBuilders

This interface provides access to a set of builders which can be used to create gripper (node) configurations. Use this interface to create the configuration to be returned by a program node contribution conformant with a PolyScope gripper device, when the GripperConfigurable.getConfig(GripperNodeConfigBuilders) method is called.

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	createUndefinedConfig() Creates a gripper (node) configuration for when the gripper action is unselected (i.e.

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

createUndefinedConfig

GripperNodeConfig createUndefinedConfig()

Creates a gripper (node) configuration for when the gripper action is unselected (i.e. a grip or release action has not yet been selected by end user).

Returns:

a new undefined gripper configuration