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

Interface WaypointNodeConfigFactory

@ProviderType
public interface WaypointNodeConfigFactory

Since:

1.2.56

Method Summary

Modifier and Type	Method and Description
FixedPositionWaypointNodeConfig	createFixedPositionConfig() Creates a fixed position configuration with default values for a waypoint.
FixedPositionWaypointNodeConfig	createFixedPositionConfig(BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint without a defined pose.
FixedPositionDefinedWaypointNodeConfig	createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Deprecated. Use the createFixedPositionConfig(Pose, JointPositions, Pose, BlendParameters, WaypointMotionParameters) instead.
FixedPositionDefinedWaypointNodeConfig	createFixedPositionConfig(Pose poseIncludingTcp, JointPositions qNear, Pose tcpOffset, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.
FixedPositionDefinedWaypointNodeConfig	createFixedPositionConfig(PositionParameters positionParameters, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a fixed position configuration for a waypoint with a defined pose.
JointMotionParameters	createJointMotionParameters(AngularSpeed jointSpeed, ErrorHandler<AngularSpeed> jointSpeedErrorHandler, AngularAcceleration jointAcceleration, ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler) Creates joint motion parameters for a waypoint.
BlendParameters	createNoBlendParameters() Creates no blend parameters for a waypoint.
OptiMoveMotionParameters	createOptiMoveMotionParameters(Percentage speed) Creates OptiMove motion parameters for a waypoint by specifying the speed as a fraction of what the robot/joints is able to perform.
OptiMoveMotionParameters	createOptiMoveMotionParameters(Percentage speed, Percentage acceleration) Creates OptiMove motion parameters for a waypoint by specifying the speed and acceleration as a fraction of what the robot/joints is able to perform.
BlendParameters	createSharedBlendParameters() Creates shared blend parameters for a waypoint.
WaypointMotionParameters	createSharedMotionParameters() Creates shared motion parameters for a waypoint.
TimeMotionParameters	createTimeMotionParameters(Time duration, ErrorHandler<Time> errorHandler)
ToolMotionParameters	createToolMotionParameters(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler, Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler) Creates tool motion parameters for a waypoint.
VariablePositionWaypointNodeConfig	createVariablePositionConfig() Creates a variable position configuration with default values for a waypoint
VariablePositionWaypointNodeConfig	createVariablePositionConfig(BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a variable position configuration for a waypoint without a defined variable
VariablePositionDefinedWaypointNodeConfig	createVariablePositionConfig(Variable variable, BlendParameters blendParameters, WaypointMotionParameters waypointMotionParameters) Creates a variable position configuration for a waypoint with a defined variable
WaypointBlendParameters	createWaypointBlendParameter(Blend suggestedBlend) Creates blend parameters for a waypoint.

Method Detail

createNoBlendParameters

BlendParameters createNoBlendParameters()

Creates no blend parameters for a waypoint. The waypoint will not use blending.

Can be used for waypoints under a MoveJ and a MoveL.

Returns:

the blend parameters for the waypoint.

createSharedBlendParameters

BlendParameters createSharedBlendParameters()

Creates shared blend parameters for a waypoint. The waypoint will use the blend defined by the parent MoveP node.

Returns:

the blend parameter for the waypoint.

createWaypointBlendParameter

WaypointBlendParameters createWaypointBlendParameter(Blend suggestedBlend)

Creates blend parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or MoveP.

Parameters:

suggestedBlend - This blend may be (automatically) corrected depending on surrounding waypoints in the program tree, not null.

Returns:

the blend parameters for the waypoint.

createSharedMotionParameters

WaypointMotionParameters createSharedMotionParameters()

Creates shared motion parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or a MoveP.

Returns:

the motion parameters for the waypoint.

createTimeMotionParameters

TimeMotionParameters createTimeMotionParameters(Time duration,
                                                ErrorHandler<Time> errorHandler)

Creates time motion parameters for a waypoint.

Can be used for waypoints under a MoveJ or a MoveL.

Parameters:

duration - the time the movement should take, not null.

errorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid time value.

Returns:

the time motion parameters for the waypoint.

createOptiMoveMotionParameters

OptiMoveMotionParameters createOptiMoveMotionParameters(Percentage speed,
                                                        Percentage acceleration)

Creates OptiMove motion parameters for a waypoint by specifying the speed and acceleration as a fraction of what the robot/joints is able to perform. OptiMove motions are agnostic to tool or joint motion types.

OptiMove is a motion control option that dynamically adapts speed and acceleration to perform smooth motions, while maintaining hardware limits. The speed and acceleration parameters control the speed profile of the move.

OptiMove motion parameters can be used for waypoints under a MoveL or a MoveJ node.

Parameters:

speed - The tool/joint speed to be achieved as a fraction of what the maximum speed the robot/joints can move with during the motion, not null. Valid range is (0.0, 1.0] where 1.0 represents 100%.

acceleration - The tool/joint acceleration to be achieved as a fraction of what the robot/joints is able to perform, not null. Valid range is (0.0, 1.0] where 1.0 represents 100%.

Returns:

the motion parameters for the waypoint.

Throws:

IllegalArgumentException - if the speed percentage or acceleration percentage are outside the valid range of (0.0, 1.0].

Since:

1.17.0

createOptiMoveMotionParameters

OptiMoveMotionParameters createOptiMoveMotionParameters(Percentage speed)

Creates OptiMove motion parameters for a waypoint by specifying the speed as a fraction of what the robot/joints is able to perform. The OptiMove acceleration parameter will automatically be derived from the specified OptiMove speed. OptiMove motions are agnostic to tool or joint motion types.

OptiMove is a motion control option that dynamically adapts speed and acceleration to perform smooth motions, while maintaining hardware limits. The speed and acceleration parameters control the speed profile of the move.

OptiMove motion parameters can be used for waypoints under a MoveL or a MoveJ node.

Parameters:

speed - The tool/joint speed to be achieved as a fraction of what the maximum speed the robot/joints can move with during the motion, not null. The acceleration percentage will automatically be derived from this value. Valid range is (0.0, 1.0] where 1.0 represents 100%.

Returns:

The motion parameters for the waypoint.

Throws:

IllegalArgumentException - if the speed percentage is outside the valid range of (0.0, 1.0].

Since:

1.17.0

createJointMotionParameters

JointMotionParameters createJointMotionParameters(AngularSpeed jointSpeed,
                                                  ErrorHandler<AngularSpeed> jointSpeedErrorHandler,
                                                  AngularAcceleration jointAcceleration,
                                                  ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)

Creates joint motion parameters for a waypoint.

Can be used for waypoints under a MoveJ.

Parameters:

jointSpeed - the joint speed to be achieved, not null.

jointSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint speed value.

jointAcceleration - the joint acceleration to be used for the movement, not null.

jointAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint acceleration value.

Returns:

the joint motion parameters for the waypoint.

createToolMotionParameters

ToolMotionParameters createToolMotionParameters(Speed toolSpeed,
                                                ErrorHandler<Speed> toolSpeedErrorHandler,
                                                Acceleration toolAcceleration,
                                                ErrorHandler<Acceleration> toolAccelerationErrorHandler)

Creates tool motion parameters for a waypoint.

Can be used for waypoints under a MoveL or a MoveP.

Parameters:

toolSpeed - the tool speed to be achieved, not null.

toolSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.

toolAcceleration - the tool acceleration to be used for the movement, not null.

toolAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

Returns:

the tool motion parameters for the waypoint.

createFixedPositionConfig

FixedPositionWaypointNodeConfig createFixedPositionConfig()

Creates a fixed position configuration with default values for a waypoint.

Note that these default values may change between PolyScope versions.

Returns:

the waypoint configuration.

createFixedPositionConfig

FixedPositionWaypointNodeConfig createFixedPositionConfig(BlendParameters blendParameters,
                                                          WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint without a defined pose.

Parameters:

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createFixedPositionConfig

@Deprecated
FixedPositionDefinedWaypointNodeConfig createFixedPositionConfig(Pose poseIncludingTcp,
                                                                             JointPositions qNear,
                                                                             BlendParameters blendParameters,
                                                                             WaypointMotionParameters waypointMotionParameters)

Deprecated. Use the createFixedPositionConfig(Pose, JointPositions, Pose, BlendParameters, WaypointMotionParameters) instead.

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters:

poseIncludingTcp - the position and orientation for the waypoint, not null.

qNear - the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createFixedPositionConfig

FixedPositionDefinedWaypointNodeConfig createFixedPositionConfig(Pose poseIncludingTcp,
                                                                 JointPositions qNear,
                                                                 Pose tcpOffset,
                                                                 BlendParameters blendParameters,
                                                                 WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters:

poseIncludingTcp - the position and orientation for the waypoint, not null.

qNear - the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not null.

tcpOffset - the TCP offset used for calculating the final robot configuration, not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

Since:

1.11.0

createFixedPositionConfig

FixedPositionDefinedWaypointNodeConfig createFixedPositionConfig(PositionParameters positionParameters,
                                                                 BlendParameters blendParameters,
                                                                 WaypointMotionParameters waypointMotionParameters)

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters:

positionParameters - parameters defining the robot position retrieved from a RobotPositionCallback2 implementation (submitted to the UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback2) method), not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

Since:

1.10.0

createVariablePositionConfig

VariablePositionWaypointNodeConfig createVariablePositionConfig()

Creates a variable position configuration with default values for a waypoint

Note that these default values may change between PolyScope versions.

Returns:

the waypoint configuration.

createVariablePositionConfig

VariablePositionWaypointNodeConfig createVariablePositionConfig(BlendParameters blendParameters,
                                                                WaypointMotionParameters waypointMotionParameters)

Creates a variable position configuration for a waypoint without a defined variable

Parameters:

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.

createVariablePositionConfig

VariablePositionDefinedWaypointNodeConfig createVariablePositionConfig(Variable variable,
                                                                       BlendParameters blendParameters,
                                                                       WaypointMotionParameters waypointMotionParameters)

Creates a variable position configuration for a waypoint with a defined variable

Parameters:

variable - the variable position and orientation for the waypoint, not null.

blendParameters - the blend parameters for the waypoint, not null.

waypointMotionParameters - the motion parameters for the waypoint, not null.

Returns:

the waypoint configuration.