AuboStudio SDK 0.6.3

函数
Payload (负载参数)

获取负载参数API接口 更多...

## 函数
double | arcs::aubo_scope::Payload::getMass () const
std::vector< double > | arcs::aubo_scope::Payload::getInertiaMatrix () const
std::string | arcs::aubo_scope::Payload::getDisplayName () const
bool | arcs::aubo_scope::Payload::isResolvable ()
bool | arcs::aubo_scope::Payload::isUsable ()
ParametersWarning | arcs::aubo_scope::Payload::getParametersWarning ()

## 详细描述

获取负载参数API接口

## 函数说明

## ◆ getDisplayName()

std::string arcs::aubo_scope::Payload::getDisplayName | ( |  | ) | const

Gets the name of the payload displayed in the AuboScope UI.

Note: The payload can change name at any time, and thus the name must not be used to uniquely identify a specific payload. The payload name can change in the following situations:

- The payload is renamed by the end user
- The name gets translated (depending on the selected language in AuboScope)
- The name is changed between versions of the AuboCap that added the payload

返回
  The name of the payload displayed in AuboScope

## ◆ getInertiaMatrix()

std::vector<double> arcs::aubo_scope::Payload::getInertiaMatrix | ( |  | ) | const

Gets the inertia matrix of the payload. The inertia matrix is defined in a coordinate system with center at the payload's center of gravity (CoG) and the axes aligned with the tool output flange coordinate system (axes).

Note: The inertia matrix specified by the end user can be invalid. The isUsable method can be used determine, if the payload can be used (i.e., has a valid inertia matrix).

返回
  The inertia matrix of the payload

## ◆ getMass()

double arcs::aubo_scope::Payload::getMass | ( |  | ) | const

返回
  The total mass of the payload (attached to the tool output flange of the robot)

## ◆ getParametersWarning()

ParametersWarning arcs::aubo_scope::Payload::getParametersWarning | ( |  | ) |

Use this method to check if the parameters of this payload have any warnings.

A payload can be usable, but may have a value for a payload parameter or may have a combination of (some of the) payload parameters, that could affect performance of the robot, if the payload is used (i.e., if the parameters are applied).

An unresolvable payload (see isResolvable()) will have no warning for its parameters (i.e. ParametersWarning#NO_WARNING is returned).

返回
  The warning (if any) for the parameters of this payload.

## ◆ isResolvable()

bool arcs::aubo_scope::Payload::isResolvable | ( |  | ) |

A payload cannot be guaranteed to be present in AuboScope. This method can be used to determine, if the payload is present.

The payload will not be present, if the end user loads a different installation which does not contain the payload, or if the payload is removed by the end user or the AuboCap that added the payload.

Note: Storing an undefined payload in a program node contribution's (a ProgramNodeContribution instance) data model (DataModel interface) will automatically make the program node (and the program) undefined.

返回
  `true` if this payload is present in AuboScope, otherwise `false`.

## ◆ isUsable()

bool arcs::aubo_scope::Payload::isUsable | ( |  | ) |

Use this method to determine if the payload can be used. An unresolvable payload (see the isResolvable method) will always be unusable.

A payload can have an invalid inertia matrix, where all the individual values of the matrix are within the valid range, but the combination of values is invalid.

Note: Storing an unusable payload in a program node contribution's (a ProgramNodeContribution instance) data model ({} interface) will automatically make the program node (and the program) undefined. `true`, if the payload is usable, otherwise `false`. `false` will always be returned when the payload is unresolvable (see the #isResolvable} method).