com.ur.urcap.api.domain.program.nodes.builtin

Interface SetPayloadNode

All Superinterfaces:

ProgramNode

public interface SetPayloadNode
extends ProgramNode

This interface represents the Set Payload program node which can be used for applying a payload. The Set Payload node is a built-in program node provided by Universal robots.

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
PayloadNodeConfig	getConfig()
PayloadNodeConfigFactory	getConfigFactory()
SetPayloadNode	setConfig(PayloadNodeConfig config) Sets a configuration on this node.

Method Detail

getConfigFactory

PayloadNodeConfigFactory getConfigFactory()

Returns:

This method returns a factory for creating various configurations for this node.

setConfig

SetPayloadNode setConfig(PayloadNodeConfig config)

Sets a configuration on this node.

Parameters:

config - The configuration to be applied.

Returns:

This node.

Throws:

IllegalStateException - If called from a Swing-based URCap outside of an UndoableChanges scope (see also UndoRedoManager)

getConfig

PayloadNodeConfig getConfig()

Returns:

The current configuration for this node. See the PayloadNodeConfig interface.