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

Interface UntilNodeConfigFactory

public interface UntilNodeConfigFactory

Method Summary

Modifier and Type	Method and Description
BlendParameters	createBlendParameters(Blend suggestedBlend) Creates blend parameters for an Until node.
CustomDecelerationParameters	createDecelerationParameters(Acceleration deceleration, ErrorHandler<Acceleration> decelerationErrorHandler) Creates deceleration parameter for an Until node.
CustomDecelerationParameters	createDecelerationParameters(AngularAcceleration deceleration, ErrorHandler<AngularAcceleration> decelerationErrorHandler) Creates deceleration parameter for an Until node.
CustomDecelerationParameters	createDecelerationParameters(AngularAcceleration angularDeceleration, ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler, Acceleration cartesianDeceleration, ErrorHandler<Acceleration> cartesianDecelerationErrorHandler) Creates deceleration parameter for an Until node.
DistanceUntilNodeConfig	createDistanceConfig() Creates a Distance configuration for an Until node with PolyScope default values.
DistanceUntilNodeConfig	createDistanceConfig(Length distance, ErrorHandler<Length> distanceErrorHandler, BlendParameters blendParameters) Creates a Distance configuration for an Until node.
ExpressionUntilNodeConfig	createExpressionConfig() Creates an Expression configuration for an Until node with PolyScope default values.
ExpressionUntilNodeConfig	createExpressionConfig(Expression expression) Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter.
ExpressionUntilNodeConfig	createExpressionConfig(Expression expression, DecelerationParameters deceleration) Creates an Expression configuration for an Until node.
BlendParameters	createNoBlendParameters() Creates no blend parameters for an Until node.
ReachedWaypointUntilNodeConfig	createReachedWaypointConfig() Creates a Reached Waypoint configuration for an Until node.
DecelerationParameters	createSharedDecelerationParameters() Creates shared deceleration parameter for an Until node.

Method Detail

createNoBlendParameters

BlendParameters createNoBlendParameters()

Creates no blend parameters for an Until node. The robot arm will stop without performing a blend.
Can be used in a Distance configuration type.

Returns:

the blend parameters for the Until node.

createBlendParameters

BlendParameters createBlendParameters(Blend suggestedBlend)

Creates blend parameters for an Until node. Can be used in a Distance configuration type.

Parameters:

suggestedBlend - This blend value may be (automatically) corrected depending on the value of the distance parameter the Distance configuration.

Returns:

the blend parameters for the Until node.

createSharedDecelerationParameters

DecelerationParameters createSharedDecelerationParameters()

Creates shared deceleration parameter for an Until node. The acceleration values from the parent Move node will be used as deceleration (absolute value). Can be used in an Expression configuration type.

Returns:

the deceleration parameter for the Until node

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(AngularAcceleration deceleration,
                                                          ErrorHandler<AngularAcceleration> decelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.
An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

deceleration - the angular deceleration (the value for the Cartesian deceleration will be the default value that PolyScope uses), not null.

decelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

Returns:

the deceleration parameter for the Until node

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(Acceleration deceleration,
                                                          ErrorHandler<Acceleration> decelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.
An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

deceleration - the Cartesian deceleration (the value for the angular deceleration will be the default value that PolyScope uses), not null.

decelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid cartesian deceleration value.

Returns:

the deceleration parameter for the Until node

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(AngularAcceleration angularDeceleration,
                                                          ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler,
                                                          Acceleration cartesianDeceleration,
                                                          ErrorHandler<Acceleration> cartesianDecelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.
An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

angularDeceleration - the angular deceleration, not null.

angularDecelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

cartesianDeceleration - the Cartesian deceleration, not null.

cartesianDecelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid cartesian deceleration value.

Returns:

the deceleration parameter for the Until node

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig()

Creates an Expression configuration for an Until node with PolyScope default values. This default configuration corresponds to when the user inserts a new Until Expression node in the program tree manually.
Note that these default values may change between PolyScope versions.

Returns:

the Until node configuration.

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig(Expression expression)

Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter. The until condition for this configuration is true once the evaluation of the expression is true.
Note that this default value may change between PolyScope versions.

Parameters:

expression - the expression whose evaluation will determine whether the until condition is met

Returns:

the Until node configuration.

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig(Expression expression,
                                                 DecelerationParameters deceleration)

Creates an Expression configuration for an Until node. The until condition for this configuration is true once the evaluation of the expression is true.

Parameters:

expression - the expression whose evaluation will determine whether the until condition is met

deceleration - the rate of deceleration to stop at once the expression until condition is met

Returns:

the Until node configuration.

createDistanceConfig

DistanceUntilNodeConfig createDistanceConfig()

Creates a Distance configuration for an Until node with PolyScope default values. This default configuration corresponds to when the user inserts a new Until Distance node in the program tree manually.
Note that these default values may change between PolyScope version

Returns:

the Until node configuration.

createDistanceConfig

DistanceUntilNodeConfig createDistanceConfig(Length distance,
                                             ErrorHandler<Length> distanceErrorHandler,
                                             BlendParameters blendParameters)

Creates a Distance configuration for an Until node. The until condition for this configuration is true once a given distance is reached.

Parameters:

distance - the distance for the robot arm to travel, not null.

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

blendParameters - the blend to be applied when the distance is met

Returns:

the Until node configuration.

createReachedWaypointConfig

ReachedWaypointUntilNodeConfig createReachedWaypointConfig()

Creates a Reached Waypoint configuration for an Until node. The until condition for this configuration is true once its parent Waypoint is reached.

Returns:

the Until node configuration.