com.ur.urcap.api.domain.value.jointposition

Interface JointPositionFactory

public interface JointPositionFactory

This interface supplies methods for creating an object containing the positions of each of the robot arm's joints. This is also referred to as a joint configuration.

Method Summary

Modifier and Type	Method and Description
JointPositions	createJointPositions(double base, double shoulder, double elbow, double wrist1, double wrist2, double wrist3, Angle.Unit unit) Creates a JointPositions object with six revolute joints using the provided angles and unit type.

Method Detail

createJointPositions

JointPositions createJointPositions(double base,
                                    double shoulder,
                                    double elbow,
                                    double wrist1,
                                    double wrist2,
                                    double wrist3,
                                    Angle.Unit unit)

Creates a JointPositions object with six revolute joints using the provided angles and unit type.

Parameters:

base - Base joint position.

shoulder - Shoulder joint position.

elbow - Elbow joint position.

wrist1 - Wrist1 joint position.

wrist2 - Wrist2 joint position.

wrist3 - Wrist3 joint position.

unit - the unit type for all the joint position arguments.

Returns:

a new JointPositions object.