AuboStudio SDK 0.6.3

函数
WaypointModel

Provides methods that returns Waypoints from the current robot installation. 更多...

## 函数
std::vector< WaypointPtr > | arcs::aubo_scope::WaypointModel::getWaypoints ()
WaypointPtr | arcs::aubo_scope::WaypointModel::getByName (const std::string &name)
| getByName 更多...
WaypointPtr | arcs::aubo_scope::WaypointModel::addWaypoint (const std::string &suggestedName, const std::vector< double > &pose)
| Add a Waypoint to the current AuboScope installation. 更多...
WaypointPtr | arcs::aubo_scope::WaypointModel::addWaypoint (const std::string &suggestedName, const std::vector< double > &pose, const std::vector< double > &joint, const std::vector< double > &offset)
| addWaypoint 更多...
void | arcs::aubo_scope::WaypointModel::removeWaypoint (const std::string &name)
| Remove a Waypoint added by this AuboCap from AuboScope. 更多...
void | arcs::aubo_scope::WaypointModel::renameWaypoint (const std::string &name, const std::string &newName)
| Rename the waypoint in the model by the name 更多...

## 详细描述

Provides methods that returns Waypoints from the current robot installation.

## 函数说明

## ◆ addWaypoint() [1/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint | ( | const std::string & | suggestedName,
|  | const std::vector< double > & | pose
| ) |  |

Add a Waypoint to the current AuboScope installation.

This makes it selectable by the end user. The Waypoint is not modifiable by the end user.

参数

  idKey | The key to identify this Waypoint by. The key is for this AuboCap only, i.e. it only has to be unique for this AuboCap and not "globally" for other aubo_studio plugins.
  suggestedName | Suggested name for the Waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned Waypoint instance.
  pose | The pose of the Waypoint with respect to the robot base

返回
  The Waypoint created and registered in AuboScope.

异常

  WaypointAlreadyAddedException | If a Waypoint has previously been added the same `idKey` identifier. Use {} to check if the Waypoint has already been added to the current installation. Use #updateWaypoint(String, Pose)} to update the Waypoint. IllegalWaypointNameException If the suggested name does not match required regex.

## ◆ addWaypoint() [2/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint | ( | const std::string & | suggestedName,
|  | const std::vector< double > & | pose,
|  | const std::vector< double > & | joint,
|  | const std::vector< double > & | offset
| ) |  |

addWaypoint

参数

  suggestedName | Suggested name for the Waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned Waypoint instance.
  pose | The pose of the Waypoint with respect to the robot base
  joint | The joint of the Waypoint with respect to the robot base
  offset | The tcp of the Waypoint with respect to the robot base

返回
  The Waypoint created and registered in AuboScope.

异常

  WaypointAlreadyAddedException | If a Waypoint has previously been added the same `idKey` identifier. Use {} to check if the Waypoint has already been added to the current installation. Use #updateWaypoint(String, Pose)} to update the Waypoint. IllegalWaypointNameException If the suggested name does not match required regex.

## ◆ getByName()

WaypointPtr arcs::aubo_scope::WaypointModel::getByName | ( | const std::string & | name | ) |

getByName

参数

  name |

返回

## ◆ getWaypoints()

std::vector<WaypointPtr> arcs::aubo_scope::WaypointModel::getWaypoints | ( |  | ) |

返回
  the geometric Waypoints of the current installation

参数

  clazz | the sort of geometric Waypoint of interest, e.g. `WaypointPoint.class`, `WaypointLine.class`, `WaypointPlane.class`
  <T> | The Waypoint type

返回
  the collection of the corresponding Waypoints

## ◆ removeWaypoint()

void arcs::aubo_scope::WaypointModel::removeWaypoint | ( | const std::string & | name | ) |

Remove a Waypoint added by this AuboCap from AuboScope.

Program nodes using the Waypoint will be become undefined because the Waypoint is no longer resolvable.

参数

  idKey | The key used to add the Waypoint with.

异常

  WaypointNotFoundException | If no Waypoint exists with the provided `idKey`.

## ◆ renameWaypoint()

void arcs::aubo_scope::WaypointModel::renameWaypoint | ( | const std::string & | name,
|  | const std::string & | newName
| ) |  |

Rename the waypoint in the model by the name

参数

  name |
  newName |