WaypointNode getPose()

URCap Development
2

You can get pose for defined fixed waypoint nodes. Look at FixedPositionDefinedWaypointNodeConfig interface.

Here is an example of using that interface in context of node visitor:

TreeNode rootTreeNode = URCapAPIFacade.getURCapAPI().getProgramModel().getRootTreeNode(this);
rootTreeNode.traverse(new ProgramNodeVisitor() {
	@Override
	public void visit(WaypointNode programNode, int index, int depth) {
		WaypointNodeConfig waypointNodeConfig = programNode.getConfig();
		switch(waypointNodeConfig.getConfigType()) {
		case FIXED_POSITION:
			FixedPositionWaypointNodeConfig cfg = (FixedPositionWaypointNodeConfig)waypointNodeConfig;
			if(cfg.getPositionDefinition() == FixedPositionWaypointNodeConfig.PositionDefinition.DEFINED) {
				System.out.println("Fixed position defined pose: " + ((FixedPositionDefinedWaypointNodeConfig)cfg).getPose());
			}
			break;
		case RELATIVE_POSITION:
			break;
		case VARIABLE_POSITION:
			break;
		}
	}
});
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