com.ur.urcap.api.domain.value

Interface PoseFactory

@ProviderType
public interface PoseFactory

This interface provides methods for creating poses in Cartesian space (relative to a reference coordinate system).

A pose can, e.g. describe the position of the robot tool (e.g. w.r.t. to robot base) or the TCP offset (relative to the center of the tool output flange).

Since:

1.2.56

Method Summary

Modifier and Type	Method and Description
Pose	createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit, Angle.Unit angleUnit) Creates an object representing a pose with the specified Cartesian position and orientation (rotation)

Method Detail

createPose

Pose createPose(double x,
                double y,
                double z,
                double rx,
                double ry,
                double rz,
                Length.Unit lengthUnit,
                Angle.Unit angleUnit)

Creates an object representing a pose with the specified Cartesian position and orientation (rotation)

Parameters:

x - X coordinate of the Cartesian position.

y - Y coordinate of the Cartesian position.

z - Z coordinate of the Cartesian position.

rx - Rx parameter of the rotation vector specifying the Cartesian orientation.

ry - Ry parameter of the rotation vector specifying the Cartesian orientation.

rz - Rz parameter of the rotation vector specifying the Cartesian orientation.

lengthUnit - The length unit for the specified coordinates of the Cartesian position.

angleUnit - The angular unit for the specified parameters of the Cartesian rotation.

Returns:

A new pose.