com.ur.urcap.api.domain.program.nodes.builtin

Interface WaypointNode

All Superinterfaces:

ProgramNode

public interface WaypointNode
extends ProgramNode

Since:

1.1.0

Method Summary

Modifier and Type	Method and Description
WaypointNodeConfig	getConfig()
WaypointNodeConfigFactory	getConfigFactory()
WaypointNode	setConfig(WaypointNodeConfig config) Set a configuration on this node.

Method Detail

getConfigFactory

WaypointNodeConfigFactory getConfigFactory()

Returns:

This method returns a factory for creating various configurations for this node.

Since:

1.2.56

setConfig

WaypointNode setConfig(WaypointNodeConfig config)

Set a configuration on this node.

Parameters:

config - the configuration to be set.

Returns:

this node.

Throws:

IncompatibleMotionParameters - if the configuration does not match the movement type of the parent Move node, e.g. trying to apply JointMotionParameters to a MoveL node.

UnreachablePositionException - if it was not possible to compute joint positions corresponding to the specified target pose (inverse kinematics failed to find solution)

IllegalStateException - if called from a Swing-based URCap outside of an UndoableChanges scope (see also UndoRedoManager).

Since:

1.2.56

getConfig

WaypointNodeConfig getConfig()

Returns:

the current configuration for this node.

Since:

1.2.56