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AuboCaps
0.6.2
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#include <waypoint_node.h>


Public Types | |
| enum | ConfigType : int { FIXED_POSITION = 0, VARIABLE_POSITION, RELATIVE_POSITION } |
| The configuration type used to determine which type of configuration this instance is. More... | |
| enum | BlendType : int { NO_BLEND = 0, SHARED_BLEND, WAYPOINT_BLEND } |
| The blend parameters type used to determine which type of blend parameters this instance is. More... | |
| enum | MotionType : int { TIME_MOTION, JOINT_MOTION, TOOL_MOTION, SHARED_MOTION } |
| The blend parameters type used to determine which type of blend parameters this instance is. More... | |
| enum | VariableType : int { VARIABLE_POSE, VARIABLE_JOINT } |
| enum | RelativePositionType : int { TEACHING, INPUT } |
| enum | RelativeOffsetType : int { CUSTOM, VARIABLE } |
| enum | PositionDefinition : int { UNDEFINED, DEFINED } |
| enum | VariableDefinition : int { UNDEFINED, UNDEFINED, DEFINED, DEFINED } |
Public Member Functions | |
| WaypointNode (WaypointNode &f) | |
| WaypointNode (WaypointNode &&f) | |
| virtual | ~WaypointNode () |
| ConfigType | getConfigType () |
| This method returns the type of configuration. More... | |
| BlendType | getBlendType () |
| Get blend type of the waypoint. More... | |
| MotionType | getMotionType () |
| PositionDefinition | getPositionDefinition () |
| Cast this instance appropriately to have access to specific getters. More... | |
| VariableDefinition | getVariableDefinition () |
| Cast this instance appropriately to have access to specific getters. More... | |
| double | getBlend () |
| double | getJointSpeed () |
| double | getJointAcceleration () |
| double | getTime () |
| double | getToolSpeed () |
| double | getToolAcceleration () |
| std::vector< double > | getPose () |
| std::vector< double > | getJointPositions () |
| std::vector< double > | getTcpOffset () |
| VariablePtr | getVariable () |
| void | setSharedMotionParameters () |
| void | setTimeMotionParameters (unsigned int duration) |
| void | setJointMotionParameters (double joint_speed, double joint_acceleration) |
| void | setToolMotionParameters (double tool_speed, double tool_acceleration) |
| void | setFixedPositionConfig () |
| void | setFixedPositionConfig (const std::vector< double > &pose_including_tcp, const std::vector< double > &qNear) |
| void | setVariablePositionConfig () |
| void | setVariablePositionConfig (VariablePtr variable) |
| Creates a variable position configuration for a waypoint with a defined variable. More... | |
Public Member Functions inherited from arcs::aubo_scope::ProgramNode | |
| ProgramNode (ProgramNode &f) | |
| ProgramNode (ProgramNode &&f) | |
| virtual | ~ProgramNode () |
| ProgramNodeContributionPtr | getProgramNodeContribution () |
| 不推荐用户调用 ProgramNodeContribution::generateScript 使用 ScriptWritter::writeChildren More... | |
Private Member Functions | |
| WaypointNode () | |
Private Attributes | |
| void * | d_ { nullptr } |
Friends | |
| class | DataSwitch |
Additional Inherited Members | |
Protected Member Functions inherited from arcs::aubo_scope::ProgramNode | |
| ProgramNode () | |
Definition at line 13 of file waypoint_node.h.
| enum arcs::aubo_scope::WaypointNode::BlendType : int |
The blend parameters type used to determine which type of blend parameters this instance is.
| Enumerator | |
|---|---|
| NO_BLEND |
No blend has been selected (the robot arm will stop at this point). |
| SHARED_BLEND |
Shared blend has been selected. |
| WAYPOINT_BLEND |
> Waypoint blend has been selected. The blend instance can be cast to WaypointBlendParameters. |
Definition at line 52 of file waypoint_node.h.
| enum arcs::aubo_scope::WaypointNode::ConfigType : int |
The configuration type used to determine which type of configuration this instance is.
| Enumerator | |
|---|---|
| FIXED_POSITION |
Fixed position has been selected (fixed waypoint). The config instance can be cast to FixedPositionWaypointNodeConfig. |
| VARIABLE_POSITION |
Variable position has been selected (variable waypoint). The config instance can be cast to VariablePositionWaypointNodeConfig. |
| RELATIVE_POSITION |
Relative position has been selected (relative waypoint). |
Definition at line 20 of file waypoint_node.h.
| enum arcs::aubo_scope::WaypointNode::MotionType : int |
The blend parameters type used to determine which type of blend parameters this instance is.
| Enumerator | |
|---|---|
| TIME_MOTION |
Time motion parameters has been selected. This instance can be cast to TimeMotionParameters. |
| JOINT_MOTION |
Joint motion parameters has been selected. This instance can be cast to JointMotionParameters. |
| TOOL_MOTION |
Tool motion parameters has been selected. This instance can be cast to ToolMotionParameters. |
| SHARED_MOTION |
Shared motion parameters has been selected. |
Definition at line 78 of file waypoint_node.h.
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strong |
| Enumerator | |
|---|---|
| UNDEFINED |
The position has not been defined. |
| DEFINED |
The position of the waypoint has been defined. Cast this instance to FixedPositionDefinedWaypointNodeConfig. |
Definition at line 152 of file waypoint_node.h.
| Enumerator | |
|---|---|
| CUSTOM |
Custom offset has been selected. |
| VARIABLE |
Variable type has been selected. |
Definition at line 139 of file waypoint_node.h.
| Enumerator | |
|---|---|
| TEACHING |
The teaching location has been selected. |
| INPUT |
The input offset has been selected. |
Definition at line 126 of file waypoint_node.h.
| Enumerator | |
|---|---|
| UNDEFINED |
A variable has not been selected. This instance has no further information. |
| UNDEFINED |
The position has not been defined. |
| DEFINED |
A variable has been selected making this config defined. Cast this instance to VariablePositionDefinedWaypointNodeConfig. |
| DEFINED |
The position of the waypoint has been defined. Cast this instance to FixedPositionDefinedWaypointNodeConfig. |
Definition at line 169 of file waypoint_node.h.
| enum arcs::aubo_scope::WaypointNode::VariableType : int |
| Enumerator | |
|---|---|
| VARIABLE_POSE |
This variable type pose parameters has been selected. |
| VARIABLE_JOINT |
This variable type joint parameters has been selected. |
Definition at line 113 of file waypoint_node.h.
| arcs::aubo_scope::WaypointNode::WaypointNode | ( | WaypointNode & | f | ) |
| arcs::aubo_scope::WaypointNode::WaypointNode | ( | WaypointNode && | f | ) |
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virtual |
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private |
| double arcs::aubo_scope::WaypointNode::getBlend | ( | ) |
Get the blend to be used for the movement.
Note that, if the configuration has not been applied to a waypoint node in the program tree, the blend value returned is a "suggested" value, since the blend may be (automatically) corrected depending on surrounding waypoints in the program tree (when it is applied to a waypoint node).
| BlendType arcs::aubo_scope::WaypointNode::getBlendType | ( | ) |
Get blend type of the waypoint.
| ConfigType arcs::aubo_scope::WaypointNode::getConfigType | ( | ) |
This method returns the type of configuration.
Cast this instance appropriately to have access to specific getters.
| double arcs::aubo_scope::WaypointNode::getJointAcceleration | ( | ) |
| std::vector<double> arcs::aubo_scope::WaypointNode::getJointPositions | ( | ) |
| double arcs::aubo_scope::WaypointNode::getJointSpeed | ( | ) |
| MotionType arcs::aubo_scope::WaypointNode::getMotionType | ( | ) |
| std::vector<double> arcs::aubo_scope::WaypointNode::getPose | ( | ) |
| PositionDefinition arcs::aubo_scope::WaypointNode::getPositionDefinition | ( | ) |
Cast this instance appropriately to have access to specific getters.
| std::vector<double> arcs::aubo_scope::WaypointNode::getTcpOffset | ( | ) |
| double arcs::aubo_scope::WaypointNode::getTime | ( | ) |
| double arcs::aubo_scope::WaypointNode::getToolAcceleration | ( | ) |
| double arcs::aubo_scope::WaypointNode::getToolSpeed | ( | ) |
| VariablePtr arcs::aubo_scope::WaypointNode::getVariable | ( | ) |
| VariableDefinition arcs::aubo_scope::WaypointNode::getVariableDefinition | ( | ) |
Cast this instance appropriately to have access to specific getters.
| void arcs::aubo_scope::WaypointNode::setFixedPositionConfig | ( | ) |
Creates a fixed position configuration with default values for a waypoint.
Note that these default values may change between AuboScope versions.
| void arcs::aubo_scope::WaypointNode::setFixedPositionConfig | ( | const std::vector< double > & | pose_including_tcp, |
| const std::vector< double > & | qNear | ||
| ) |
Creates a fixed position configuration for a waypoint with a defined pose.
| pose_including_tcp | the position and orientation for the waypoint, not null. |
| qNear | the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not null. |
| blendParameters | the blend parameters for the waypoint, not null. |
| waypoint_motion_parameters | the motion parameters for the waypoint, not null. |
| void arcs::aubo_scope::WaypointNode::setJointMotionParameters | ( | double | joint_speed, |
| double | joint_acceleration | ||
| ) |
Creates joint motion parameters for a waypoint.
Can be used for waypoints under a MoveJ.
| jointSpeed | the joint speed to be achieved, not null. |
| jointSpeedErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid joint speed value. |
| joint_acceleration | the joint acceleration to be used for the movement, not null. |
| joint_accelerationErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid joint acceleration value. |
| void arcs::aubo_scope::WaypointNode::setSharedMotionParameters | ( | ) |
Creates shared motion parameters for a waypoint.
Can be used for waypoints under a MoveJ, MoveL or a MoveP.
| void arcs::aubo_scope::WaypointNode::setTimeMotionParameters | ( | unsigned int | duration | ) |
Creates time motion parameters for a waypoint.
Can be used for waypoints under a MoveJ or a MoveL.
| duration | the time the movement should take, not null. |
| errorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid time value. |
| void arcs::aubo_scope::WaypointNode::setToolMotionParameters | ( | double | tool_speed, |
| double | tool_acceleration | ||
| ) |
Creates tool motion parameters for a waypoint.
Can be used for waypoints under a MoveL or a MoveP.
| tool_speed | the tool speed to be achieved, not null. |
| tool_speedErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid tool speed value. |
| tool_acceleration | the tool acceleration to be used for the movement, not null. |
| tool_accelerationErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value. |
| void arcs::aubo_scope::WaypointNode::setVariablePositionConfig | ( | ) |
Creates a variable position configuration with default values for a waypoint
Note that these default values may change between AuboScope versions.
| void arcs::aubo_scope::WaypointNode::setVariablePositionConfig | ( | VariablePtr | variable | ) |
Creates a variable position configuration for a waypoint with a defined variable.
| variable | the variable position and orientation for the waypoint, not null. |
| blendParameters | the blend parameters for the waypoint, not null. |
| waypoint_motion_parameters | the motion parameters for the waypoint, not null. |
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friend |
Definition at line 409 of file waypoint_node.h.
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private |
Definition at line 411 of file waypoint_node.h.
1.8.11