ProgramNodeFactory (api 1.2.56 API)

```
public interface ProgramNodeFactory
```
This interfaces supplies methods to create different types of program nodes. Both built-in program nodes (provided by Universal Robots) and URCap program nodes can be created. All node types will initially have the same default configuration as if the user added the node manually. Note that this default configuration may change between PolyScope versions.

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`AssignmentNode`	`createAssignmentNode()`
`CircleMoveNode`	`createCircleMoveNode()`
`CommentNode`	`createCommentNode()`
`ElseIfNode`	`createElseIfNode()`
`ElseNode`	`createElseNode()`
`FolderNode`	`createFolderNode()`
`ForceNode`	`createForceNode()`
`HaltNode`	`createHaltNode()`
`IfNode`	`createIfNode()`
`LoopNode`	`createLoopNode()`
`MoveNode`	`createMoveNode()`
`PalletNode`	`createPalletNode()`
`PopupNode`	`createPopupNode()`
`SeekNode`	`createSeekNode()`
`SetNode`	`createSetNode()`
`URCapProgramNode`	`createURCapProgramNode(Class<? extends ProgramNodeService> programNodeService)` This method creates a URCap Program Node which is an instance of a `ProgramNodeContribution`
`WaitNode`	`createWaitNode()`
`WaypointNode`	`createWaypointNode()`

- Method Detail
  - createURCapProgramNode
```
URCapProgramNode createURCapProgramNode(Class<? extends ProgramNodeService> programNodeService)
```
    This method creates a URCap Program Node which is an instance of a ProgramNodeContribution
    
    Parameters:
    
    programNodeService - is the service creating the program node contribution.
    
    Returns:
    
    the URCapProgramNode which represents the ProgramNodeContribution created by ProgramNodeService. Returns null if URCap providing programNodeService is not installed.
    
    Throws:
    
    IllegalArgumentException - if the argument programNodeService is null or programNodeService does not implement ProgramNodeService
  - createMoveNode
```
MoveNode createMoveNode()
```
  - createWaypointNode
```
WaypointNode createWaypointNode()
```
  - createWaitNode
```
WaitNode createWaitNode()
```
  - createSetNode
```
SetNode createSetNode()
```
  - createPopupNode
```
PopupNode createPopupNode()
```
  - createHaltNode
```
HaltNode createHaltNode()
```
  - createCommentNode
```
CommentNode createCommentNode()
```
  - createFolderNode
```
FolderNode createFolderNode()
```
  - createLoopNode
```
LoopNode createLoopNode()
```
  - createAssignmentNode
```
AssignmentNode createAssignmentNode()
```
  - createIfNode
```
IfNode createIfNode()
```
  - createElseIfNode
```
ElseIfNode createElseIfNode()
```
  - createElseNode
```
ElseNode createElseNode()
```
  - createCircleMoveNode
```
CircleMoveNode createCircleMoveNode()
```
  - createPalletNode
```
PalletNode createPalletNode()
```
  - createSeekNode
```
SeekNode createSeekNode()
```
  - createForceNode
```
ForceNode createForceNode()
```

Interface ProgramNodeFactory

Method Summary

Method Detail

createURCapProgramNode

createMoveNode

createWaypointNode

createWaitNode

createSetNode

createPopupNode

createHaltNode

createCommentNode

createFolderNode

createLoopNode

createAssignmentNode

createIfNode

createElseIfNode

createElseNode

createCircleMoveNode

createPalletNode

createSeekNode

createForceNode