Uses of Interface
com.ur.urcap.api.domain.value.Pose

Packages that use Pose

Package	Description
com.ur.urcap.api.contribution.driver.general.tcp
com.ur.urcap.api.domain.data
com.ur.urcap.api.domain.feature
com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode
com.ur.urcap.api.domain.tcp
com.ur.urcap.api.domain.userinteraction
com.ur.urcap.api.domain.userinteraction.robot.movement
com.ur.urcap.api.domain.value
com.ur.urcap.api.domain.value.robotposition

Uses of Pose in com.ur.urcap.api.contribution.driver.general.tcp

Methods in com.ur.urcap.api.contribution.driver.general.tcp with parameters of type Pose

Modifier and Type	Method and Description
void	TCPConfiguration.setTCP(String suggestedName, Pose tcpPose) Add a TCP for the device to PolyScope.
void	TCPConfiguration.updateTCP(Pose tcpPose) Update the offset of the device's TCP.

Uses of Pose in com.ur.urcap.api.domain.data

Methods in com.ur.urcap.api.domain.data that return Pose

Modifier and Type	Method and Description
Pose	DataModel.get(String key, Pose defaultValue) Get the Pose value assigned to the specified key.

Methods in com.ur.urcap.api.domain.data with parameters of type Pose

Modifier and Type	Method and Description
Pose	DataModel.get(String key, Pose defaultValue) Get the Pose value assigned to the specified key.
void	DataModel.set(String key, Pose value) Assign a Pose value to the specified key.

Uses of Pose in com.ur.urcap.api.domain.feature

Methods in com.ur.urcap.api.domain.feature that return Pose

Modifier and Type	Method and Description
Pose	Feature.getPose() Returns the Cartesian location of the feature

Methods in com.ur.urcap.api.domain.feature with parameters of type Pose

Modifier and Type	Method and Description
Feature	FeatureContributionModel.addFeature(String idKey, String suggestedName, Pose pose) Add a feature to the current PolyScope installation.
void	FeatureContributionModel.updateFeature(String idKey, Pose newPose) Update the pose of an existing feature added by this URCap.

Uses of Pose in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode that return Pose

Modifier and Type	Method and Description
Pose	FixedPositionDefinedWaypointNodeConfig.getPose() This method returns the pose for the Cartesian location of the Waypoint node, i.e.

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode with parameters of type Pose

Modifier and Type	Method and Description
FixedPositionDefinedWaypointNodeConfig	WaypointNodeConfigFactory.createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Deprecated. Use the WaypointNodeConfigFactory.createFixedPositionConfig(Pose, JointPositions, Pose, BlendParameters, WaypointMotionParameters) instead.
FixedPositionDefinedWaypointNodeConfig	WaypointNodeConfigFactory.createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, Pose tcpOffset, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.

Uses of Pose in com.ur.urcap.api.domain.tcp

Methods in com.ur.urcap.api.domain.tcp that return Pose

Modifier and Type	Method and Description
Pose	TCP.getOffset()

Methods in com.ur.urcap.api.domain.tcp with parameters of type Pose

Modifier and Type	Method and Description
TCP	TCPContributionModel.addTCP(String idKey, String suggestedName, Pose offset) Add a TCP to the current PolyScope installation.
void	TCPContributionModel.updateTCP(String idKey, Pose newOffset) Update the offset of an existing TCP added by this URCap.

Uses of Pose in com.ur.urcap.api.domain.userinteraction

Methods in com.ur.urcap.api.domain.userinteraction with parameters of type Pose

Modifier and Type	Method and Description
abstract void	RobotPositionCallback.onOk(Pose pose, JointPositions q) Deprecated. This method is called if the end user accepts the robot position.

Uses of Pose in com.ur.urcap.api.domain.userinteraction.robot.movement

Methods in com.ur.urcap.api.domain.userinteraction.robot.movement with parameters of type Pose

Modifier and Type	Method and Description
void	RobotMovement.requestUserToMoveRobot(Pose pose, RobotMovementCallback callback) Transition to the Automove screen to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

Uses of Pose in com.ur.urcap.api.domain.value

Methods in com.ur.urcap.api.domain.value that return Pose

Modifier and Type	Method and Description
Pose	PoseFactory.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	PoseFactory.createPose(Position position, Rotation rotation) Creates an object representing a pose with the specified Cartesian position and orientation (rotation).

Methods in com.ur.urcap.api.domain.value with parameters of type Pose

Modifier and Type	Method and Description
boolean	Pose.epsilonEquals(Pose other, double epsilon) Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit) instead.
boolean	Pose.epsilonEquals(Pose other, double positionEpsilon, Length.Unit lengthUnit, double rotationEpsilon, Angle.Unit angleUnit) Indicates whether some other Pose is "approximately equal" to this one.

Uses of Pose in com.ur.urcap.api.domain.value.robotposition

Methods in com.ur.urcap.api.domain.value.robotposition that return Pose

Modifier and Type	Method and Description
Pose	PositionParameters.getPose()
Pose	PositionParameters.getTCPOffset()