MoveNode mv=createMoveNode();
root.addChild(mv)
If I want to assign the WayPoint name as “StandByPose”,
how to implement the code?
HI,
From URCaps SDK 1.4 you can do something like:
moveNode = programNodeFactory.createMoveNodeNoTemplate();
moveNode.addChild(programNodeFactory.createWaypointNode("StandByPose"));
The createMoveNodeNoTemplate
creates a MoveNode
without waypoints.
My question then comes from getting the name: there’s a way to get a waypoint name from the WaypointNodeConfig
?
Thank you, regards,
Matteo Timossi @recognitionrobotics
FWIW, you can get the effective waypoint name by using the TreeNode
returned by addChild
:
moveNode = programNodeFactory.createMoveNodeNoTemplate();
TreeNode standbyPoseTreeNode = moveNode.addChild(programNodeFactory.createWaypointNode("StandByPose"));
standbyPoseTreeNode.getProgramNode().toString(); // This gets the actual waypoint name.
Hi,
I am using a Starter Package for SDK 1.10.0 and createMoveNodeNoTemplate() and createWaypointNode(string) are not recognized.
The error messages:
The method createMoveNodeNoTemplate() is undefined for the type ProgramNodeFactory
The method createWypointNode() in the type ProgramNodeFactory is not applicable for the arguments (String)
The mentioned methods are supported in URCap API 1.10.
You can check in your POM-xml file, whether the URCap API version under dependencies is 1.10, or potentially a lower version which does not include support for these methods.