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

Packages that use Position

Package	Description
com.ur.urcap.api.domain.data
com.ur.urcap.api.domain.payload
com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode
com.ur.urcap.api.domain.value

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

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

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

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

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

Uses of Position in com.ur.urcap.api.domain.payload

Methods in com.ur.urcap.api.domain.payload that return Position

Modifier and Type	Method and Description
Position	Payload.getCenterOfGravity() Gets the payload's center of gravity (CoG), also referred to as center of mass.

Methods in com.ur.urcap.api.domain.payload with parameters of type Position

Modifier and Type	Method and Description
Payload	PayloadContributionModel.addPayload(String idKey, String suggestedName, Mass mass, Position centerOfGravity) Add a payload to the current installation in PolyScope.
Payload	PayloadContributionModel.addPayload(String idKey, String suggestedName, Mass mass, Position centerOfGravity, InertiaMatrix inertiaMatrix) Add a payload to the current installation in PolyScope.
void	PayloadContributionModel.updatePayload(String idKey, Mass mass, Position centerOfGravity) Update the mass and center of gravity (CoG) of an existing payload added by this URCap.
void	PayloadContributionModel.updatePayload(String idKey, Mass mass, Position centerOfGravity, InertiaMatrix inertiaMatrix) Update the mass, center of gravity (CoG) and inertia matrix of an existing payload added by this URCap.

Uses of Position in com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode

Methods in com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode that return Position

Modifier and Type	Method and Description
Position	CustomParametersPayloadNodeConfig.getCenterOfGravity() Gets the payload's center of gravity (CoG), also referred to as center of mass.

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

Modifier and Type	Method and Description
CustomParametersPayloadNodeConfig	PayloadNodeConfigFactory.createCustomParametersConfig(Mass mass, Position centerOfGravity) This method creates a configuration for the Set Payload node with custom payload parameters and default value for the transition time.
CustomParametersPayloadNodeConfig	PayloadNodeConfigFactory.createCustomParametersConfig(Mass mass, Position centerOfGravity, Time transitionTime, ErrorHandler<Time> transitionTimeErrorHandler) This method creates a configuration for the Set Payload node with custom payload parameters and specified transition time.

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

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

Modifier and Type	Method and Description
Position	PositionFactory.createPosition(double x, double y, double z, Length.Unit lengthUnit) Creates an object representing a Cartesian position with the specified coordinates.
Position	Pose.getPosition()

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

Modifier and Type	Method and Description
Pose	PoseFactory.createPose(Position position, Rotation rotation) Creates an object representing a pose with the specified Cartesian position and orientation (rotation).
boolean	Position.epsilonEquals(Position other, double epsilon, Length.Unit unit) Indicates whether some other Position object is "approximately equal" to this one.