com.ur.urcap.api.domain.program.nodes.builtin.configurations.directionnode

Interface DirectionNodeConfigBuilder

public interface DirectionNodeConfigBuilder

This interface can be used to build a single configuration that can be applied to a Direction node. Each configuration being built should ideally use a new DirectionNodeConfigBuilder instance.

For any configuration parameter where a value is not specified (using the corresponding set method), a default value will be used when the new configuration is built whereas the original value will be used when an existing configuration was copied using the copyFrom(DirectionNodeConfig) method.

To build a configuration with non-default value for the feature selection and a direction along the positive X axis, use the following code snippet:

  
  DirectionNodeConfig newConfig = configBuilder.setFeature(feature)
                                               .setDirection(DirectionAxis.X_PLUS)
                                               .build();
  
  

To change the feature selection in the current configuration, use the following code snippet to build a new updated configuration:

  
   configBuilder.copyFrom(currentConfig);
   DirectionNodeConfig updatedConfig = configBuilder.setFeature(feature)
                                                    .build();
  
  

Method Summary

Modifier and Type	Method and Description
DirectionNodeConfig	build() Build the configuration for a Direction node.
DirectionNodeConfigBuilder	copyFrom(DirectionNodeConfig source) Copy values from one configuration (source) to another (this) builder.
DirectionNodeConfigBuilder	setDirection(DirectionAxis.Axis axis) Sets the direction for a Direction node.
DirectionNodeConfigBuilder	setDirection(Expression expression) Sets the direction for a Direction node.
DirectionNodeConfigBuilder	setFeature(Feature feature) Set feature for a Direction node.
DirectionNodeConfigBuilder	setSharedFeature() Sets shared feature for a Direction node.
DirectionNodeConfigBuilder	setSharedToolMotionParameters() Sets shared tool motion parameters for a Direction node.
DirectionNodeConfigBuilder	setToolMotionParameters(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler, Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler) Sets tool motion parameters for a Direction node.

Method Detail

copyFrom

DirectionNodeConfigBuilder copyFrom(DirectionNodeConfig source)

Copy values from one configuration (source) to another (this) builder.

Parameters:

source - the original configuration to copy values from.

Returns:

this builder.

setSharedToolMotionParameters

DirectionNodeConfigBuilder setSharedToolMotionParameters()

Sets shared tool motion parameters for a Direction node. The Direction node will inherit the tool motion parameters from the MoveL or MoveP parent.

Returns:

this builder.

setToolMotionParameters

DirectionNodeConfigBuilder setToolMotionParameters(Speed toolSpeed,
                                                   ErrorHandler<Speed> toolSpeedErrorHandler,
                                                   Acceleration toolAcceleration,
                                                   ErrorHandler<Acceleration> toolAccelerationErrorHandler)

Sets tool motion parameters for a Direction node.

Parameters:

toolSpeed - the tool speed to be achieved, not null.

toolSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.

toolAcceleration - the tool acceleration to be used for the movement, not null.

toolAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

Returns:

this builder.

setFeature

DirectionNodeConfigBuilder setFeature(Feature feature)

Set feature for a Direction node.

Parameters:

feature - the feature for a direction node, not null.

Returns:

this builder.

setSharedFeature

DirectionNodeConfigBuilder setSharedFeature()

Sets shared feature for a Direction node. The Direction node will inherit the feature selected in the MoveL or MoveP parent.

Returns:

this builder.

setDirection

DirectionNodeConfigBuilder setDirection(Expression expression)

Sets the direction for a Direction node.

Parameters:

expression - any expression that resolves to a vector (e.g. '[1.0, 0.0, 0.0]').

Returns:

this builder.

setDirection

DirectionNodeConfigBuilder setDirection(DirectionAxis.Axis axis)

Sets the direction for a Direction node.

Parameters:

axis - linear axis to move along.

Returns:

this builder.

build

DirectionNodeConfig build()

Build the configuration for a Direction node.

A default configuration can be built by calling this method without invoking any of the set methods in this interface.

Returns:

the Direction node configuration.