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

Interface GripActionConfig

All Superinterfaces:

GripperNodeConfig

@ProviderType
public interface GripActionConfig
extends GripperNodeConfig

This interface represents a Gripper node configuration for a grip action.

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.GripperNodeConfig

GripperNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
Optional<SelectableGripper>	getGripperSelection() This method returns the individual gripper selected in a Gripper node that uses a multi-gripper device, i.e.
boolean	isForMultiGripper() Determine if this configuration is a multi-gripper configuration.

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.GripperNodeConfig

getConfigType

Method Detail

isForMultiGripper

boolean isForMultiGripper()

Determine if this configuration is a multi-gripper configuration. This will be the case, if the config was created for, or retrieved from, a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

This method can used to determine if:

• The configuration can be applied to a Gripper node which uses a single gripper device. Note that an exception will be thrown, if a multi-gripper configuration is applied to a Gripper node using a single gripper device.
• The getGripperSelection() method can be used to retrieve a (valid) gripper selection (which can be empty). Note that, if calling the Optional.isPresent() method on the retrieved Optional instance returns false, it can both indicate that the configuration is for a single gripper (not supporting the multi-gripper capability) as well as indicate that no gripper has been selected (an empty gripper selection).

Returns:

true if this configuration is a multi-gripper configuration, otherwise false

getGripperSelection

Optional<SelectableGripper> getGripperSelection()

This method returns the individual gripper selected in a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

Note: This method is not relevant for a Gripper node using a single gripper device. The isForMultiGripper() method can be used to determine, if this configuration is for a multi-gripper device.

Returns:

The individual gripper selection wrapped in an Optional. Use Optional.isPresent() to check, if a gripper has been selected. The gripper selection can be retrieved using Optional.get(). Note that Optional.isPresent() will also return false, if this configuration was created for a single gripper. isForMultiGripper() can be used to check if this configuration is for a multi-gripper device.