AuboStudio SDK 0.6.3

Public 成员函数 | 所有成员列表
arcs::aubo_scope::GripVacuumCapability类 参考abstract

`#include <grip_vacuum_capability.h>`

## Public 成员函数
virtual | ~GripVacuumCapability ()=0
virtual void | updateCapability (double minVacuum, double maxVacuum, double defaultGripVacuum)=0

## 详细描述

This interface represents a registered vacuum capability for a gripper which supports gripping using a user configurable vacuum level.

Through this interface, it is possible to adjust the range and default value for the vacuum level after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

在文件 grip_vacuum_capability.h 第 22 行定义.

## 构造及析构函数说明

## ◆ ~GripVacuumCapability()

virtual arcs::aubo_scope::GripVacuumCapability::~GripVacuumCapability | ( |  | ) |
| pure virtual

## 成员函数说明

## ◆ updateCapability()

virtual void arcs::aubo_scope::GripVacuumCapability::updateCapability | ( | double | minVacuum,
|  | double | maxVacuum,
|  | double | defaultGripVacuum
| ) |  |
| pure virtual

Update the range and default value for the vacuum level supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

If the gripper works with absolute pressure, specify a positive range for the supported vacuum level. If the gripper works with relative pressure (vacuum), specify a negative range for the supported vacuum level.

参数

  minVacuum | minimum vacuum level supported by the gripper
  maxVacuum | maximum vacuum level supported by the gripper
  defaultGripVacuum | default value for the vacuum level for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
  unit | the unit for all specified values, not `null`

异常

  InvalidCapabilityRange | if `minVacuum` > `maxVacuum` or `defaultGripVacuum` is outside the range defined by `minVacuum` and `maxVacuum`.

该类的文档由以下文件生成:

- include/aubo_caps/contribution/driver/gripper/capability/grip_vacuum_capability.h