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

Interface JointMotionParameters

All Superinterfaces:

WaypointMotionParameters

public interface JointMotionParameters
extends WaypointMotionParameters

Since:

1.2.56

Nested Class Summary

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

WaypointMotionParameters.ParameterType

Method Summary

Modifier and Type	Method and Description
AngularAcceleration	getJointAcceleration()
AngularSpeed	getJointSpeed()

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

getType

Method Detail

getJointSpeed

AngularSpeed getJointSpeed()

Returns:

the joint speed to be achieved.

getJointAcceleration

AngularAcceleration getJointAcceleration()

Returns:

the joint acceleration to use for the movement.