AuboStudio SDK 0.6.3

waypoint.h
浏览该文件的文档.
1 #ifndef AUBO_SCOPE_WAYPOINT_H
2 #define AUBO_SCOPE_WAYPOINT_H
3
4 #include <vector>
5 #include <string>
6 #include <aubo_caps/class_forward.h>
7
8 namespace arcs {
9 namespace aubo_scope {
10 ARCS_CLASS_FORWARD(Waypoint);
11
12 /**
13 * @defgroup Waypoint Waypoint
14 * This interface composes parameters that define a position of the robot.
15 */
16 class ARCS_ABI_EXPORT Waypoint
17 {
18 public:
19 Waypoint(Waypoint &f);
20 Waypoint(Waypoint &&f);
21 ~Waypoint();
22
23 /**
24 * @ingroup Waypoint
25 * @brief getDisplayName
26 * @return Display name
27 */
28 std::string getDisplayName();
29
30 /**
31 * @ingroup Waypoint
32 * @return the pose for the position of the robot (including the TCP offset)
33 */
34 std::vector<double> getPose();
35
36 /**
37 * @ingroup Waypoint
38 * @return the joint positions corresponding to the pose of the robot (when
39 * taking the TCP offset into account)
40 */
41 std::vector<double> getJointPositions();
42
43 /**
44 * @ingroup Waypoint
45 * @return the pose for the TCP offset (used when defining the robot
46 * position)
47 */
48 std::vector<double> getTcpOffset();
49
50 /**
51 * @ingroup Waypoint
52 * @brief isDefined
53 * @return
54 */
55 bool isDefined();
56
57 /**
58 * @ingroup Waypoint
59 * @brief hashCode
60 * @return
61 */
62 size_t hashCode();
63
64 private:
65 friend class DataSwitch;
66 Waypoint();
67 void *d_{ nullptr };
68 };
69
70 } // namespace aubo_scope
71 } // namespace arcs
72
73 #endif // AUBO_SCOPE_WAYPOINT_H
class_forward.h
ARCS_ABI_EXPORT
#define ARCS_ABI_EXPORT
Definition: class_forward.h:16
arcs::aubo_scope::Waypoint
Definition: waypoint.h:17
arcs::aubo_scope::Waypoint::~Waypoint
~Waypoint()
arcs::aubo_scope::Waypoint::Waypoint
Waypoint()
arcs::aubo_scope::Waypoint::Waypoint
Waypoint(Waypoint &f)
arcs::aubo_scope::Waypoint::Waypoint
Waypoint(Waypoint &&f)
arcs::aubo_scope::Waypoint::getPose
std::vector< double > getPose()
arcs::aubo_scope::Waypoint::getDisplayName
std::string getDisplayName()
getDisplayName
arcs::aubo_scope::Waypoint::getJointPositions
std::vector< double > getJointPositions()
arcs::aubo_scope::Waypoint::hashCode
size_t hashCode()
hashCode
arcs::aubo_scope::Waypoint::isDefined
bool isDefined()
isDefined
arcs::aubo_scope::Waypoint::getTcpOffset
std::vector< double > getTcpOffset()
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7