Uses of Interface
com.ur.urcap.api.domain.payload.Payload

Packages that use Payload

Package	Description
com.ur.urcap.api.domain.data
com.ur.urcap.api.domain.payload
com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode
com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Uses of Payload in com.ur.urcap.api.domain.data

Methods in com.ur.urcap.api.domain.data that return Payload

Modifier and Type	Method and Description
Payload	DataModel.get(String key, Payload defaultValue) Get the Payload value assigned to the specified key.

Methods in com.ur.urcap.api.domain.data with parameters of type Payload

Modifier and Type	Method and Description
Payload	DataModel.get(String key, Payload defaultValue) Get the Payload value assigned to the specified key.
void	DataModel.set(String key, Payload value) Assign a Payload value to the specified key.

Uses of Payload in com.ur.urcap.api.domain.payload

Methods in com.ur.urcap.api.domain.payload that return Payload

Modifier and Type	Method and Description
Payload	PayloadContributionModel.addPayload(String idKey, String suggestedName, Mass mass, Position centerOfGravity) Add a payload to the current installation in PolyScope.
Payload	PayloadContributionModel.addPayload(String idKey, String suggestedName, Mass mass, Position centerOfGravity, InertiaMatrix inertiaMatrix) Add a payload to the current installation in PolyScope.
Payload	PayloadContributionModel.getPayload(String idKey) Returns the payload previously added by this URCap using the same idKey identifier.

Methods in com.ur.urcap.api.domain.payload that return types with arguments of type Payload

Modifier and Type	Method and Description
Collection<Payload>	PayloadModel.getPayloads()

Uses of Payload in com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode that return Payload

Modifier and Type	Method and Description
Payload	SelectionPayloadNodeConfig.getPayload()

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode with parameters of type Payload

Modifier and Type	Method and Description
SelectionPayloadNodeConfig	PayloadNodeConfigFactory.createSelectionConfig(Payload payload) This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and with default value for the transition time.
SelectionPayloadNodeConfig	PayloadNodeConfigFactory.createSelectionConfig(Payload payload, Time transitionTime, ErrorHandler<Time> transitionTimeErrorHandler) This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and specified transition time.

Uses of Payload in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Methods in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration that return Payload

Modifier and Type	Method and Description
Payload	PayloadSelection.getPayload() This method returns the selected payload (from the installation) to be applied after the gripper action has finished executing.

Methods in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration with parameters of type Payload

Modifier and Type	Method and Description
ReleaseActionConfigBuilder	ReleaseActionConfigBuilder.setPayloadSelection(Payload payload) Enable the payload setting for a Gripper node and configure it to apply the specified payload (from the installation) after the release action has finished executing.
GripActionConfigBuilder	GripActionConfigBuilder.setPayloadSelection(Payload payload) Enable the payload setting for a Gripper node and configure it to apply the specified payload (from the installation) after the grip action has finished executing.