com.ur.urcap.api.domain.value

Interface PoseFactory

@ProviderType
public interface PoseFactory

This interface provides methods for creating poses in Cartesian space (relative to a reference coordinate system).

A pose can, e.g. describe the position of the robot tool (e.g. w.r.t. to robot base) or the TCP offset (relative to the center of the tool output flange).

Since:

1.2.56

Method Summary

Modifier and Type	Method and Description
Pose	createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit, Angle.Unit angleUnit) Creates an object representing a pose with the specified Cartesian position and orientation (rotation)
Pose	createPose(Position position, Rotation rotation) Creates an object representing a pose with the specified Cartesian position and orientation (rotation).

Method Detail

createPose

Pose createPose(Position position,
                Rotation rotation)

Creates an object representing a pose with the specified Cartesian position and orientation (rotation).

Use PositionFactory.createPosition(double, double, double, Length.Unit) and RotationFactory.createRotation(double, double, double, Angle.Unit) to create the position and rotation parameters, respectively.

Parameters:

position - The Cartesian position of the pose.

rotation - The rotation vector specifying the Cartesian orientation of the pose

Returns:

A new pose.

Since:

1.13.0

createPose

Pose createPose(double x,
                double y,
                double z,
                double rx,
                double ry,
                double rz,
                Length.Unit lengthUnit,
                Angle.Unit angleUnit)

Creates an object representing a pose with the specified Cartesian position and orientation (rotation)

Parameters:

x - X coordinate of the Cartesian position.

y - Y coordinate of the Cartesian position.

z - Z coordinate of the Cartesian position.

rx - Rx parameter of the rotation vector specifying the Cartesian orientation.

ry - Ry parameter of the rotation vector specifying the Cartesian orientation.

rz - Rz parameter of the rotation vector specifying the Cartesian orientation.

lengthUnit - The length unit for the specified coordinates of the Cartesian position.

angleUnit - The angular unit for the specified parameters of the Cartesian rotation.

Returns:

A new pose.