com.ur.urcap.api.domain.value.robotposition

Interface PositionParameters

public interface PositionParameters

This interface composes parameters that define a position of the robot.

Method Summary

Modifier and Type	Method and Description
JointPositions	getJointPositions()
Pose	getPose()
Pose	getTCPOffset()

Method Detail

getPose

Pose getPose()

Returns:

the pose for the position of the robot (including the TCP offset)

getJointPositions

JointPositions getJointPositions()

Returns:

the joint positions corresponding to the pose of the robot (when taking the TCP offset into account)

getTCPOffset

Pose getTCPOffset()

Returns:

the pose for the TCP offset (used when defining the robot position)