AuboStudio SDK 0.6.3

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

`#include <feature_contribution_model.h>`

## Public 成员函数
| FeatureContributionModel (FeatureContributionModel &f)
| FeatureContributionModel (FeatureContributionModel &&f)
| ~FeatureContributionModel ()
FeaturePtr | addFeature (const std::string &idKey, const std::string &suggestedName, const std::vector< double > &pose)
| Add a feature to the current AuboScope installation. 更多...
FeaturePtr | getFeature (const std::string &idKey)
| Returns the feature previously added by this AuboCap using the same `idKey` identifier. 更多...
void | updateFeature (const std::string &idKey, const std::vector< double > &newPose)
| Update the pose of an existing feature added by this AuboCap. 更多...
void | renameFeature (const std::string &idKey, const std::string &newName)
void | removeFeature (const std::string &idKey)
| Remove a feature added by this AuboCap from AuboScope. 更多...

## Private 成员函数
| FeatureContributionModel ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 详细描述

This interface provides functionality for adding, updating and removing features in AuboScope.

Note: This interface must only be used in an installation contribution/

在文件 feature_contribution_model.h 第 20 行定义.

## 构造及析构函数说明

## ◆ FeatureContributionModel() [1/3]

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

## ◆ FeatureContributionModel() [2/3]

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

## ◆ ~FeatureContributionModel()

arcs::aubo_scope::FeatureContributionModel::~FeatureContributionModel | ( |  | ) |

## ◆ FeatureContributionModel() [3/3]

arcs::aubo_scope::FeatureContributionModel::FeatureContributionModel | ( |  | ) |
| private

## 成员函数说明

## ◆ addFeature()

FeaturePtr arcs::aubo_scope::FeatureContributionModel::addFeature | ( | const std::string & | idKey,
|  | const std::string & | suggestedName,
|  | const std::vector< double > & | pose
| ) |  |

Add a feature to the current AuboScope installation.

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

参数

  idKey | The key to identify this feature 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 feature. 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 feature instance.
  pose | The pose of the feature with respect to the robot base

返回
  The feature created and registered in AuboScope.

异常

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

## ◆ getFeature()

FeaturePtr arcs::aubo_scope::FeatureContributionModel::getFeature | ( | const std::string & | idKey | ) |

Returns the feature previously added by this AuboCap using the same `idKey` identifier.

Use this to verify if the feature is present in the current installation.

参数

  idKey | The key to identify this feature by.

返回
  The feature previously added by this AuboCap. Returns `null` if no feature exists in the current installation.

## ◆ removeFeature()

void arcs::aubo_scope::FeatureContributionModel::removeFeature | ( | const std::string & | idKey | ) |

Remove a feature added by this AuboCap from AuboScope.

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

参数

  idKey | The key used to add the feature with.

异常

  FeatureNotFoundException | If no feature exists with the provided `idKey`.

## ◆ renameFeature()

void arcs::aubo_scope::FeatureContributionModel::renameFeature | ( | const std::string & | idKey,
|  | const std::string & | newName
| ) |  |

## ◆ updateFeature()

void arcs::aubo_scope::FeatureContributionModel::updateFeature | ( | const std::string & | idKey,
|  | const std::vector< double > & | newPose
| ) |  |

Update the pose of an existing feature added by this AuboCap.

参数

  idKey | The key to identify the feature. A feature must have been added prior to this method call using the same key.
  newPose | The new pose to set for the feature.

异常

  FeatureNotFoundException | If no feature exists with the provided `idKey`.

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 feature_contribution_model.h 第 88 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 feature_contribution_model.h 第 90 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/feature/feature_contribution_model.h