Deprecated API

Contents

• Deprecated Interfaces
• Deprecated Classes
• Deprecated Enums
• Deprecated Methods

Deprecated Interfaces

Interface and Description
com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.MoveNodeConfigFactory Use the configuration builders available in MoveNodeConfigBuilders interface which is accessible through MoveNode.getConfigBuilders().

Deprecated Classes

Class and Description
com.ur.urcap.api.domain.userinteraction.RobotPositionCallback Use RobotPositionCallback2 instead.

Deprecated Enums

Enum and Description
com.ur.urcap.api.domain.robot.RobotModel.RobotSeries See RobotModel.getRobotSeries()

Deprecated Methods

Method and Description
com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointNodeConfigFactory.createFixedPositionConfig(Pose, JointPositions, BlendParameters, WaypointMotionParameters) Use the WaypointNodeConfigFactory.createFixedPositionConfig(Pose, JointPositions, Pose, BlendParameters, WaypointMotionParameters) instead.
com.ur.urcap.api.domain.value.Pose.epsilonEquals(Pose, double) Use Pose.epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit) instead.
com.ur.urcap.api.domain.program.nodes.builtin.MoveNode.getConfigFactory() Use MoveNode.getConfigBuilders() instead.
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.getExpression() Use ElseIfNode.getExpression2() instead.
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.getExpression() Use IfNode.getExpression2() instead.
com.ur.urcap.api.domain.URCapAPI.getFeatures() Use InstallationAPI or ProgramAPI instead accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getFunctionModel() Use InstallationAPI instead accessible through its provider, URCapAPI.getInstallationAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getInstallationNode(Class<T>) Use InstallationAPI or ProgramAPI instead accessible through their respective providers.
com.ur.urcap.api.domain.URCapAPI.getIOs() Use InstallationAPI or ProgramAPI instead accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint1() Please use Feature.getPose() instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeatureLine.getPoint1() Please use Feature.getPose() instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint2() Please use Feature.getPose() instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeatureLine.getPoint2() Please use Feature.getPose() instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.feature.FeaturePlane.getPoint3() Please use Feature.getPose() instead to get the actual Cartesian location of the feature.
com.ur.urcap.api.domain.URCapAPI.getProgramModel() Use ProgramAPI instead accessible through its provider, URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getRobotModel() Use SystemAPI instead accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.robot.RobotModel.getRobotSeries() This method can only be used to determine, if a robot belongs to the CB3 robot series. The method will return the value RobotModel.RobotSeries.CB3, if the underlying robot is a CB3 robot, whereas the RobotModel.RobotSeries.E_SERIES value is returned for an e-Series robot. The RobotModel.RobotSeries.UNKNOWN value will be returned for all robots belonging to other robot series.
com.ur.urcap.api.domain.value.Rotation.getRX() Use Rotation.getRX(Angle.Unit) instead.
com.ur.urcap.api.domain.value.Rotation.getRY() Use Rotation.getRY(Angle.Unit) instead.
com.ur.urcap.api.domain.value.Rotation.getRZ() Use Rotation.getRZ(Angle.Unit) instead.
com.ur.urcap.api.domain.URCapAPI.getSoftwareVersion() Use SystemAPI instead accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getSystemSettings() Use SystemAPI instead accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPIFacade.getURCapAPI() Please use URCapAPIFacade.getSystemAPI() instead.
com.ur.urcap.api.domain.userinteraction.UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback) Use UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback2) instead.
com.ur.urcap.api.domain.URCapAPI.getUserInteraction() Use UserInterfaceAPI instead accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getValueFactoryProvider() Use InstallationAPI or ProgramAPI instead accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getVariableModel() Use InstallationAPI or ProgramAPI instead accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.value.Position.getX() Use Position.getX(Length.Unit) instead.
com.ur.urcap.api.domain.value.Position.getY() Use Position.getY(Length.Unit) instead.
com.ur.urcap.api.domain.value.Position.getZ() Use Position.getZ(Length.Unit) instead.
com.ur.urcap.api.domain.script.ScriptWriter.globalVariable(String, String) Use ScriptWriter.assign(Variable variable, String expression) instead.
com.ur.urcap.api.domain.script.ScriptWriter.set_payload(double) In the script code generated by this method, the 'set_payload(m, cog)' script function will be called without specifying the optional 'cog' parameter. This means that the currently active TCP will be used as Center of Gravity (CoG) with the side effect that later calls to the 'set_tcp()' script function will also change the CoG to the new TCP. Use ScriptWriter.set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ) instead.
com.ur.urcap.api.domain.program.nodes.builtin.ElseIfNode.setExpression(String) Use ExpressionBuilder instead to build an Expression and set it using ElseIfNode.setExpression(Expression expression).
com.ur.urcap.api.domain.program.nodes.builtin.IfNode.setExpression(String) Use ExpressionBuilder instead to build an Expression and set it using IfNode.setExpression(Expression expression).
com.ur.urcap.api.domain.value.Pose.toArray() Use Pose.toArray(Length.Unit, Angle.Unit) instead.