com.github.wshackle.fanuc.robotserver.IXyzWpr Maven / Gradle / Ivy
package com.github.wshackle.fanuc.robotserver ;
import com4j.*;
/**
* Represents the position of a single group of axes consisting of three real components specifying a Cartesian location (x,y,z), three real components specifying an orientation (w,p,r), and a component specifying a configuration.
*/
@IID("{A47A5884-056D-11D0-8901-0020AF68F0A3}")
public interface IXyzWpr extends com.github.wshackle.fanuc.robotserver.ICartesianFormat {
// Methods:
/**
*
* Returns/sets the X component of the location vector.
*
*
* Getter method for the COM property "X"
*
* @return Returns a value of type double
*/
@DISPID(301) //= 0x12d. The runtime will prefer the VTID if present
@VTID(12)
double x();
/**
*
* Returns/sets the X component of the location vector.
*
*
* Setter method for the COM property "X"
*
* @param x Mandatory double parameter.
*/
@DISPID(301) //= 0x12d. The runtime will prefer the VTID if present
@VTID(13)
void x(
double x);
/**
*
* Returns/sets the Y component of the location vector.
*
*
* Getter method for the COM property "Y"
*
* @return Returns a value of type double
*/
@DISPID(302) //= 0x12e. The runtime will prefer the VTID if present
@VTID(14)
double y();
/**
*
* Returns/sets the Y component of the location vector.
*
*
* Setter method for the COM property "Y"
*
* @param y Mandatory double parameter.
*/
@DISPID(302) //= 0x12e. The runtime will prefer the VTID if present
@VTID(15)
void y(
double y);
/**
*
* Returns/sets the Z component of the location vector.
*
*
* Getter method for the COM property "Z"
*
* @return Returns a value of type double
*/
@DISPID(303) //= 0x12f. The runtime will prefer the VTID if present
@VTID(16)
double z();
/**
*
* Returns/sets the Z component of the location vector.
*
*
* Setter method for the COM property "Z"
*
* @param z Mandatory double parameter.
*/
@DISPID(303) //= 0x12f. The runtime will prefer the VTID if present
@VTID(17)
void z(
double z);
/**
*
* Returns/sets the W component of the orientation vector.
*
*
* Getter method for the COM property "W"
*
* @return Returns a value of type double
*/
@DISPID(304) //= 0x130. The runtime will prefer the VTID if present
@VTID(18)
double w();
/**
*
* Returns/sets the W component of the orientation vector.
*
*
* Setter method for the COM property "W"
*
* @param w Mandatory double parameter.
*/
@DISPID(304) //= 0x130. The runtime will prefer the VTID if present
@VTID(19)
void w(
double w);
/**
*
* Returns/sets the P component of the orientation vector.
*
*
* Getter method for the COM property "P"
*
* @return Returns a value of type double
*/
@DISPID(305) //= 0x131. The runtime will prefer the VTID if present
@VTID(20)
double p();
/**
*
* Returns/sets the P component of the orientation vector.
*
*
* Setter method for the COM property "P"
*
* @param p Mandatory double parameter.
*/
@DISPID(305) //= 0x131. The runtime will prefer the VTID if present
@VTID(21)
void p(
double p);
/**
*
* Returns/sets the R component of the orientation vector.
*
*
* Getter method for the COM property "R"
*
* @return Returns a value of type double
*/
@DISPID(306) //= 0x132. The runtime will prefer the VTID if present
@VTID(22)
double r();
/**
*
* Returns/sets the R component of the orientation vector.
*
*
* Setter method for the COM property "R"
*
* @param r Mandatory double parameter.
*/
@DISPID(306) //= 0x132. The runtime will prefer the VTID if present
@VTID(23)
void r(
double r);
/**
*
* Returns the location and orientation values in one call.
*
* @param x Mandatory Holder parameter.
* @param y Mandatory Holder parameter.
* @param z Mandatory Holder parameter.
* @param w Mandatory Holder parameter.
* @param p Mandatory Holder parameter.
* @param r Mandatory Holder parameter.
*/
@DISPID(307) //= 0x133. The runtime will prefer the VTID if present
@VTID(24)
void getAll(
Holder x,
Holder y,
Holder z,
Holder w,
Holder p,
Holder r);
/**
*
* Sets the location and orientation values in one call.
*
* @param x Mandatory double parameter.
* @param y Mandatory double parameter.
* @param z Mandatory double parameter.
* @param w Mandatory double parameter.
* @param p Mandatory double parameter.
* @param r Mandatory double parameter.
*/
@DISPID(308) //= 0x134. The runtime will prefer the VTID if present
@VTID(25)
void setAll(
double x,
double y,
double z,
double w,
double p,
double r);
// Properties:
}