Uses of Interface
com.ur.urcap.api.util.Optional

Packages that use Optional

Package	Description
com.ur.urcap.api.domain.device.gripper
com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode
com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Uses of Optional in com.ur.urcap.api.domain.device.gripper

Methods in com.ur.urcap.api.domain.device.gripper that return Optional

Modifier and Type	Method and Description
<T extends CapabilitySupport> Optional<T>	GripperDevice.getCapabilitySupport(Class<T> capabilitySupport) Get information about the support (provided by the gripper device) for a specific capability.

Uses of Optional 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 Optional

Modifier and Type	Method and Description
Optional<JointPositions>	FixedPositionDefinedWaypointNodeConfig.getJointPositions() This method returns the joint positions corresponding to the defined Cartesian location of the waypoint (accessible through FixedPositionDefinedWaypointNodeConfig.getPose()).

Uses of Optional 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 Optional

Modifier and Type	Method and Description
Optional<SelectableGripper>	GripActionConfig.getGripperSelection() This method returns the individual gripper selected (if any is selected) in a Gripper node that uses a multi-gripper device, i.e.
Optional<SelectableGripper>	UndefinedActionConfig.getGripperSelection() This method returns the individual gripper selected (if any is selected) in a Gripper node that uses a multi-gripper device, i.e.
Optional<SelectableGripper>	ReleaseActionConfig.getGripperSelection() This method returns the individual gripper selected (if any is selected) in a Gripper node that uses a multi-gripper device, i.e.
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.
Optional<PayloadSetting>	GripActionConfig.getPayloadSetting() This method returns the configuration of the payload setting for a Gripper node.
Optional<PayloadSetting>	ReleaseActionConfig.getPayloadSetting() This method returns the configuration of the payload setting for a Gripper node.

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

Modifier and Type	Method and Description
ReleaseActionConfigBuilder	ReleaseActionConfigBuilder.setGripperSelection(Optional<SelectableGripper> gripperSelection) Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e.
GripActionConfigBuilder	GripActionConfigBuilder.setGripperSelection(Optional<SelectableGripper> gripperSelection) Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e.