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

Interface FixedPositionDefinedWaypointNodeConfig

All Superinterfaces:

FixedPositionWaypointNodeConfig, WaypointNodeConfig

@ProviderType
public interface FixedPositionDefinedWaypointNodeConfig
extends FixedPositionWaypointNodeConfig

This interface represents a fixed position configuration for a Waypoint node which has a defined Cartesian location (i.e. pose).

Since:

1.2.56

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.FixedPositionWaypointNodeConfig

FixedPositionWaypointNodeConfig.PositionDefinition

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointNodeConfig

WaypointNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
Optional<JointPositions>	getJointPositions() This method returns the joint positions corresponding to the defined Cartesian location of the waypoint (accessible through getPose()).
Pose	getPose() This method returns the pose for the Cartesian location of the Waypoint node, i.e.

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.FixedPositionWaypointNodeConfig

getBlendParameters, getMotionParameters, getPositionDefinition

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointNodeConfig

getConfigType

Method Detail

getPose

Pose getPose()

This method returns the pose for the Cartesian location of the Waypoint node, i.e. the Cartesian position and orientation of the waypoint. The returned pose includes the TCP offset specified when the waypoint was defined/taught.

Returns:

A pose representing the Cartesian location of the waypoint (its Cartesian position and orientation)

getJointPositions

Optional<JointPositions> getJointPositions()

This method returns the joint positions corresponding to the defined Cartesian location of the waypoint (accessible through getPose()).

The waypoint's joint positions depend on the TCP and feature selection in the Move node, that is parent to the Waypoint node in the program tree. The joint positions will change accordingly, when these selections are changed in the parent Move node, or when the Cartesian position and/or orientation of the TCP/feature are changed in the installation. They can also change as a result of the end user loading a different installation. Note that this means that the joint positions can be subject to change after this method has been called.

The waypoint's joint positions will not be available when:

• The Waypoint node and all its ancestors (including the parent Move node) are not in the program tree, i.e. the joint positions are not accessible during subtree construction (using the TreeNode interface).
• The TCP or feature selection in the parent Move node is not resolvable, i.e. the selected TCP/feature is not present in the current installation. This can occur, if the end user loads a different installation which does not contain the TCP/feature, or if the TCP/feature is removed by the end user or the URCap that added the it.
• The Cartesian location of the waypoint is not reachable, i.e. it was not possible to compute joint positions corresponding to the waypoint's Cartesian location (inverse kinematics failed to find a solution).

Because of this, the returned joint positions are wrapped in an Optional, which will not have any value available in the situations described above. Always use Optional.isPresent() to check if the waypoint's joint positions are available before accessing them using Optional.get().

Note: If the parent Move node is configured to use the active TCP (i.e. the 'Use Active TCP' option), the returned joint positions will depend on which TCP is currently active.
Note: Even though the returned joint positions correspond to the Cartesian location of the waypoint, they can differ from the joint positions used at runtime of the robot program, as many things influence the joint positions during the execution of a program. For instance, during execution of a MoveL parent node, the achieved joint positions for the Waypoint node depend on the current position of the robot (e.g. determined by a previous executed Waypoint node) when computing the joint positions corresponding to the waypoint's Cartesian location (using inverse kinematics). Joint positions can also depend on the currently active TCP if the parent Move node is configured to use that.

Returns:

Joint positions corresponding to the defined Cartesian location of the waypoint (Cartesian position and orientation) wrapped in an Optional. Always use Optional.isPresent() to verify that the waypoint's joint positions are available before using Optional.get() to retrieve them.

Since:

1.12.0