Uses of Interface
com.ur.urcap.api.domain.value.simple.Mass

Packages that use Mass

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.program.nodes.contributable.device.gripper.configuration
com.ur.urcap.api.domain.robot
com.ur.urcap.api.domain.value.simple

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

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

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

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

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

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

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

Modifier and Type	Method and Description
Mass	Payload.getMass()

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

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 Mass 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 Mass

Modifier and Type	Method and Description
Mass	CustomParametersPayloadNodeConfig.getMass()

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

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 Mass in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Methods in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration that return types with arguments of type Mass

Modifier and Type	Method and Description
Optional<Mass>	CustomPayloadParameters.getPayloadMass() This method returns the total payload mass (if any is specified) to be applied after the gripper action has finished executing.

Methods in com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration with parameters of type Mass

Modifier and Type	Method and Description
ReleaseActionConfigBuilder	ReleaseActionConfigBuilder.setPayloadMass(Mass mass) Enable the payload setting for a Gripper node and configure it to apply the specified total payload mass after the release action has finished executing.
GripActionConfigBuilder	GripActionConfigBuilder.setPayloadMass(Mass mass) Enable the payload setting for a Gripper node and configure it to apply the specified total payload mass after the grip action has finished executing.

Uses of Mass in com.ur.urcap.api.domain.robot

Methods in com.ur.urcap.api.domain.robot that return types with arguments of type Mass

Modifier and Type	Method and Description
Range<Mass>	RobotLimits.getPayloadMassExceededRange() Get the range for the payload mass (attached to the robot's tool output flange) accepted in PolyScope.
Range<Mass>	RobotLimits.getPayloadMassRange() Get the range for the rated payload mass (attached to the robot's tool output flange) supported by the underlying robot, including the minimum and maximum supported values.

Uses of Mass in com.ur.urcap.api.domain.value.simple

Methods in com.ur.urcap.api.domain.value.simple that return Mass

Modifier and Type	Method and Description
Mass	SimpleValueFactory.createMass(double value, Mass.Unit unit) Creates an object representing a mass.