com.ur.urcap.api.contribution.driver.gripper.capability

Interface ReleaseDetectedParameters

@ProviderType
public interface ReleaseDetectedParameters

This interface provides parameters relevant for generating script code for the Release Detected feedback capability (registered using GripperFeedbackCapabilities.registerReleaseDetectedCapability(ScriptCodeGenerator)).

These parameters are passed when PolyScope calls the implementation of the method ScriptCodeGenerator.generateScript(ScriptWriter, Object) responsible for generating the script code.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
SelectableGripper	getGripperSelection() Get the individual gripper/zone selected by the end user for the release detection.

Method Detail

getGripperSelection

SelectableGripper getGripperSelection()

Get the individual gripper/zone selected by the end user for the release detection.

This is only valid if the has registered the multi-gripper capability (using GripperCapabilities.registerMultiGripperCapability(GripperListProvider)).

Returns:

The selected individual gripper/zone to use for the release detection

Throws:

UnsupportedOperationException - if the gripper contribution is not a multi-gripper, i.e. the multi-gripper capability has not been registered

Since:

1.11.0