@ConsumerType
public interface GripperConfigurable
If an implementation of ProgramNodeContribution
also implements this interface, it will enable that contribution
to be configured as a Gripper program node (GripperNode
instance) from another program node contribution (could
be contributed by a different 3rd party URCap). This will allow the program node to be used for e.g. creating
template nodes. The program node contribution/service must be also be registered as conformant with a PolyScope
gripper device using GripperRegistrationManager.registerAsGripper(Class)
.
GripperContribution
interface, since
such URCaps by default have insertable and configurable Gripper program nodes.Modifier and Type | Method and Description |
---|---|
GripperNodeConfig |
getConfig(GripperNodeConfigBuilders gripperNodeConfigBuilders)
This method is called when another program node contribution queries this program node for its current gripper
configuration.
|
void |
setConfig(GripperNodeConfig config)
This method is called when this program node is configured externally by another program node contribution.
|
void setConfig(GripperNodeConfig config)
config
- the gripper configuration containing parameters for the gripper action to be appliedGripperNodeConfig getConfig(GripperNodeConfigBuilders gripperNodeConfigBuilders)
This method is called when another program node contribution queries this program node for its current gripper configuration. A configuration reflecting (matching) the current configuration of the gripper stored in this program node must be created and returned using one of the provided configuration builders (i.e. convert your own configuration of the gripper to the PolyScope representation of gripper node configuration).
Note: It is not allowed to return your own implementation of theGripperNodeConfig
interface; doing
so will throw an exception. Instead the builders provided by the GripperNodeConfigBuilders
interface
must be used.gripperNodeConfigBuilders
- an interface providing means of creating the gripper configuration to be returnedCopyright © 2023. All rights reserved.