Deprecated API

Contents

• Deprecated Interfaces
• 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 Methods

Method and Description
com.ur.urcap.api.domain.value.Pose.epsilonEquals(Pose, double) Use Pose.epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)
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 accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getFunctionModel() Use InstallationAPI accessible through its provider, URCapAPI.getInstallationAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getInstallationNode(Class<T>) Use InstallationAPI or ProgramAPI accessible through their respective providers. This method can be used to get a specific InstallationNodeContribution instance
com.ur.urcap.api.domain.URCapAPI.getIOs() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
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.getPoint1() 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.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 accessible through its provider, URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getRobotModel() Use SystemAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.value.Rotation.getRX() Use Rotation.getRX(Angle.Unit)
com.ur.urcap.api.domain.value.Rotation.getRY() Use Rotation.getRY(Angle.Unit)
com.ur.urcap.api.domain.value.Rotation.getRZ() Use Rotation.getRZ(Angle.Unit)
com.ur.urcap.api.domain.URCapAPI.getSoftwareVersion() Use SystemAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.URCapAPI.getSystemSettings() Use SystemAPI 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.URCapAPI.getUserInteraction() Use UserInterfaceAPI accessible through both URCapAPI.getInstallationAPIProvider() and URCapAPI.getProgramAPIProvider()
com.ur.urcap.api.domain.URCapAPI.getValueFactoryProvider() Use InstallationAPI or ProgramAPI accessible through their respective providers, i.e. URCapAPI.getInstallationAPIProvider() or URCapAPI.getProgramAPIProvider().
com.ur.urcap.api.domain.URCapAPI.getVariableModel() Use InstallationAPI or ProgramAPI 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)
com.ur.urcap.api.domain.value.Position.getY() Use Position.getY(Length.Unit)
com.ur.urcap.api.domain.value.Position.getZ() Use Position.getZ(Length.Unit)
com.ur.urcap.api.domain.script.ScriptWriter.globalVariable(String, String) Use ScriptWriter.assign(Variable variable, String expression) instead Global variable assignment.
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 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 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)