com.ur.urcap.api.domain.program.nodes.contributable.device.gripper

Interface GripperNodeFactory

public interface GripperNodeFactory

This interface can be used for creating Gripper program nodes (i.e. GripperNode instances) which can be used for programming grip and release actions with a selected gripper device.

Method Summary

Modifier and Type	Method and Description
GripperNode	createGripperNode(GripperDevice gripperDevice) This method creates a new Gripper program node.

Method Detail

createGripperNode

GripperNode createGripperNode(GripperDevice gripperDevice)

This method creates a new Gripper program node. This node type can be used for programming grip and release actions with a selected gripper device.

The program node will be created with the same default configuration as if the end user added the node manually in PolyScope, i.e. an undefined configuration where the gripper action is unselected.

Parameters:

gripperDevice - the gripper device to create a Gripper node for, not null. The created Gripper node will program gripper actions for this device.

Returns:

a new Gripper program node (which can be inserted into the program tree using the TreeNode interface).

Throws:

UnresolvedDeviceException - when the specified gripperDevice device is unresolved. See GripperDevice.isResolvable().