AuboStudio SDK 0.6.3

Public 类型 | Public 成员函数 | Private 成员函数 | Private 属性 | 友元 | 所有成员列表
arcs::aubo_scope::MoveNode类 参考

`#include <move_node.h>`

类 arcs::aubo_scope::MoveNode 继承关系图:
[图例]
arcs::aubo_scope::MoveNode 的协作图:
[图例]

## Public 类型
enum | ConfigType : int { MOVE_J = 0 , MOVE_L , MOVE_S }
enum | TcpSelectionType : int { USE_ACTIVE_TCP = 0 , IGNORE_ACTIVE_TCP , MOVE_TCP }
enum | FeatureSelectionType : int { UNRESOLVED_FEATURE , FEATURE }

## Public 成员函数
| MoveNode (MoveNode &f)
| MoveNode (MoveNode &&f)
virtual | ~MoveNode ()
ConfigType | getConfigType ()
| This method returns the type of configuration. 更多...
void | setConfigType (ConfigType type)
bool | getUseJoints ()
void | setUseJoints (bool use)
void | setJointSpeed (double joint_speed)
double | getJointSpeed ()
void | setJointAcceleration (double joint_acceleration)
double | getJointAcceleration ()
void | setTCPSelection (TCPPtr tcp_selection)
TCPPtr | getTCPSelection ()
void | setToolSpeed (double tool_speed)
double | getToolSpeed ()
void | setToolAcceleration (double tool_acceleration)
double | getToolAcceleration ()
void | setFeature (FeaturePtr feature)
void | setFeature (FeatureVariablePtr feature_variable)
FeaturePtr | getFeature ()
void | setBlend (double blend)
double | getBlend ()
void | setTcpSelectionType (TcpSelectionType type)
TcpSelectionType | getTcpSelectionType ()
Public 成员函数 继承自 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 更多...

## Private 成员函数
| MoveNode ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 额外继承的成员函数
Protected 成员函数 继承自 arcs::aubo_scope::ProgramNode
| ProgramNode ()

## 详细描述

在文件 move_node.h 第 13 行定义.

## 成员枚举类型说明

## ◆ ConfigType

enum arcs::aubo_scope::MoveNode::ConfigType : int

枚举值
MOVE_J | Movement type is MoveJ. The config instance can be cast to MoveJMoveNodeConfig.
MOVE_L | Movement type is MoveL. The config instance can be cast to MoveLMoveNodeConfig.
MOVE_S |

在文件 move_node.h 第 16 行定义.

## ◆ FeatureSelectionType

enum arcs::aubo_scope::MoveNode::FeatureSelectionType : int

枚举值
UNRESOLVED_FEATURE | The selected feature is no longer available (e.g. because the user has removed the feature in the Installation or the needed Installation is not currently loaded)
FEATURE | Feature is selected. The Selection instance can be cast to MoveNodeFeature

在文件 move_node.h 第 62 行定义.

## ◆ TcpSelectionType

enum arcs::aubo_scope::MoveNode::TcpSelectionType : int

枚举值
USE_ACTIVE_TCP | Motions are adjusted to the currently active TCP. The TCP is determined during runtime of the program.
IGNORE_ACTIVE_TCP | No TCP is used and the motion under this Move command will be with respect to the tool output flange.
MOVE_TCP | A specific TCP is selected. The TCPSelection instance can be cast to MoveNodeTCP.

在文件 move_node.h 第 40 行定义.

## 构造及析构函数说明

## ◆ MoveNode() [1/3]

arcs::aubo_scope::MoveNode::MoveNode | ( | MoveNode & | f | ) |

## ◆ MoveNode() [2/3]

arcs::aubo_scope::MoveNode::MoveNode | ( | MoveNode && | f | ) |

## ◆ ~MoveNode()

virtual arcs::aubo_scope::MoveNode::~MoveNode | ( |  | ) |
| virtual

## ◆ MoveNode() [3/3]

arcs::aubo_scope::MoveNode::MoveNode | ( |  | ) |
| private

## 成员函数说明

## ◆ getBlend()

double arcs::aubo_scope::MoveNode::getBlend | ( |  | ) |

## ◆ getConfigType()

ConfigType arcs::aubo_scope::MoveNode::getConfigType | ( |  | ) |

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

返回
  the type of this config.

## ◆ getFeature()

FeaturePtr arcs::aubo_scope::MoveNode::getFeature | ( |  | ) |

## ◆ getJointAcceleration()

double arcs::aubo_scope::MoveNode::getJointAcceleration | ( |  | ) |

## ◆ getJointSpeed()

double arcs::aubo_scope::MoveNode::getJointSpeed | ( |  | ) |

## ◆ getTCPSelection()

TCPPtr arcs::aubo_scope::MoveNode::getTCPSelection | ( |  | ) |

## ◆ getTcpSelectionType()

TcpSelectionType arcs::aubo_scope::MoveNode::getTcpSelectionType | ( |  | ) |

## ◆ getToolAcceleration()

double arcs::aubo_scope::MoveNode::getToolAcceleration | ( |  | ) |

## ◆ getToolSpeed()

double arcs::aubo_scope::MoveNode::getToolSpeed | ( |  | ) |

## ◆ getUseJoints()

bool arcs::aubo_scope::MoveNode::getUseJoints | ( |  | ) |

## ◆ setBlend()

void arcs::aubo_scope::MoveNode::setBlend | ( | double | blend | ) |

Set the blend parameter for the MoveP configuration.

The blend parameter will be used between all waypoints in the movement of the robot arm, from the previous position through the waypoint under the Move node.

参数

  blend | The shared blend used in the motion of this Move node, not `null`.
  blendErrorHandler | Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid blend value.

返回
  This builder.

## ◆ setConfigType()

void arcs::aubo_scope::MoveNode::setConfigType | ( | ConfigType | type | ) |

## ◆ setFeature() [1/2]

void arcs::aubo_scope::MoveNode::setFeature | ( | FeaturePtr | feature | ) |

Set feature for the MoveL configuration.

The feature will be used for the movement of the robot arm, from the previous position through the waypoints under the Move node.

参数

  feature | The shared feature for this movement, not `null`.

返回
  This builder.

## ◆ setFeature() [2/2]

void arcs::aubo_scope::MoveNode::setFeature | ( | FeatureVariablePtr | feature_variable | ) |

## ◆ setJointAcceleration()

void arcs::aubo_scope::MoveNode::setJointAcceleration | ( | double | joint_acceleration | ) |

Set joint acceleration parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

参数

  joint_acceleration | The shared joint acceleration to be used, 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.

返回
  This builder.

## ◆ setJointSpeed()

void arcs::aubo_scope::MoveNode::setJointSpeed | ( | double | joint_speed | ) |

Set joint speed parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

参数

  joint_speed | The shared 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.

返回
  This builder.

## ◆ setTCPSelection()

void arcs::aubo_scope::MoveNode::setTCPSelection | ( | TCPPtr | tcp_selection | ) |

Set the TCP selection for the MoveJ configuration.

The TCP will be set as the active TCP before the movement of the robot arm, from the previous position through the waypoints under the Move node, is performed.

See TCPSelection which can be created using the {} interface. tcp_selection The TCP setting to be applied. This builder.

## ◆ setTcpSelectionType()

void arcs::aubo_scope::MoveNode::setTcpSelectionType | ( | TcpSelectionType | type | ) |

## ◆ setToolAcceleration()

void arcs::aubo_scope::MoveNode::setToolAcceleration | ( | double | tool_acceleration | ) |

Set tool acceleration parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

参数

  tool_acceleration | The shared tool acceleration to be used, not `null`.
  toolAccelerationErrorHandler | Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid tool acceleration value.

返回
  This builder.

## ◆ setToolSpeed()

void arcs::aubo_scope::MoveNode::setToolSpeed | ( | double | tool_speed | ) |

Set tool speed parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

参数

  tool_speed | The shared tool speed to be achieved, not `null`.
  toolSpeedErrorHandler | Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid tool speed value.

返回
  This builder.

## ◆ setUseJoints()

void arcs::aubo_scope::MoveNode::setUseJoints | ( | bool | use | ) |

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 move_node.h 第 225 行定义.

## 类成员变量说明

## ◆ d_

void* arcs::aubo_scope::MoveNode::d_ { nullptr }
| private

在文件 move_node.h 第 227 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/program/nodes/builtin/move_node.h