com.ur.urcap.api.domain.program.nodes.contributable.device.gripper

Interface GripperNode

All Superinterfaces:

ProgramNode

@ProviderType
public interface GripperNode
extends ProgramNode

This interface represents a program node which can be used for programming grip and release actions with a selected gripper device.

An instance of this interface can be built using the GripperNodeFactory interface and is returned as a result when GripperNodeFactory.createGripperNode(GripperDevice) is called.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
GripActionConfigBuilder	createGripActionConfigBuilder() Creates a new GripActionConfigBuilder instance for building a single Gripper node configuration for a grip action.
ReleaseActionConfigBuilder	createReleaseActionConfigBuilder() Creates a new ReleaseActionConfigBuilder instance for building a single Gripper node configuration for a release action.
GripperNodeConfig	getConfig()
GripperDevice	getGripperDevice()
GripperNode	setConfig(GripperNodeConfig config) Sets a configuration on this node.

Method Detail

createGripActionConfigBuilder

GripActionConfigBuilder createGripActionConfigBuilder()

Creates a new GripActionConfigBuilder instance for building a single Gripper node configuration for a grip action. Each configuration being built should ideally use a new GripActionConfigBuilder instance.

Returns:

a new builder for creating a single Gripper node configuration for a grip action

createReleaseActionConfigBuilder

ReleaseActionConfigBuilder createReleaseActionConfigBuilder()

Creates a new ReleaseActionConfigBuilder instance for building a single Gripper node configuration for a release action. Each configuration being built should ideally use a new ReleaseActionConfigBuilder instance.

Returns:

A new builder for creating a single Gripper node configuration for a release action

getGripperDevice

GripperDevice getGripperDevice()

Returns:

The gripper device used by this Gripper node

getConfig

GripperNodeConfig getConfig()

Returns:

The current configuration of this node

setConfig

GripperNode setConfig(GripperNodeConfig config)

Sets a configuration on this node.

Note: The various available gripper devices can support different sets of capabilities. Therefore use GripperDevice.getCapabilitySupport(Class) to ensure that the gripper device used by the Gripper node (accessible through getGripperDevice()) supports a specific desired capability (or set of capabilities) before applying a configuration. Applying a configuration not supported by the gripper node/device will throw an exception.

Parameters:

config - The configuration to be set.

Returns:

This node

Throws:

UnsupportedConfig - If the specified GripperNodeConfig is not supported by this node. This can occur when the specified GripperNodeConfig is a newly built configuration which uses a capability not supported by the gripper device used by this node. It will also occur when an existing configuration is taken from another node that uses a different gripper device, i.e. the two gripper devices must be identical.

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