ur-kotlin/com.wolfscowl.ur_client.interfaces.state/ArmState/toFormattedString

toFormattedString

abstract fun toFormattedString(jointsInDegree: Boolean = false, tcpPoseInDegree: Boolean = false, tcpPoseInMillimeter: Boolean = false, tcpOffsetInDegree: Boolean = false, tcpOffsetInMillimeter: Boolean = false, roundDecimals: Boolean = false): String

Returns a string representation of the arm state using the requested units.

This includes joint positions, TCP (tool center point) pose, TCP offset, payload, payload center of gravity, and payload inertia. Various units and formatting options can be controlled using the parameters.

Return

A formatted string representing the current state of the arm with the requested units and rounding.

Parameters

jointsInDegree

If true, joint positions are displayed in degrees instead of radiant (default: false).

tcpPoseInDegree

If true, TCP pose rotations are displayed in degrees instead of radiant (default: false).

tcpPoseInMillimeter

If true, TCP pose translations are displayed in millimeters instead of meters (default: false).

tcpOffsetInDegree

If true, TCP offset rotations are displayed in degrees instead of radiant (default: false).

tcpOffsetInMillimeter

If true, TCP offset translations are displayed in millimeters instead of meters (default: false).

roundDecimals

If true, numeric values are rounded to a fixed number of decimal places (default: false).