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::TcpContributionModel类 参考

`#include <tcp_contribution_model.h>`

## Public 成员函数
| TcpContributionModel (TcpContributionModel &f)
| TcpContributionModel (TcpContributionModel &&f)
virtual | ~TcpContributionModel ()
TCPPtr | addTcp (const std::string &idKey, const std::string &suggested_name, const std::vector< double > &offset)
| Add a TCP to the current AuboScope installation. 更多...
TCPPtr | getTcp (const std::string &idKey)
| Returns the TCP previously added by this AuboCap using the same `idKey`. 更多...
void | updateTcp (const std::string &idKey, const std::vector< double > &newOffset)
| Update the offset of a TCP already added by this AuboCap. 更多...
void | removeTcp (const std::string &idKey)
| Remove a TCP added by this AuboCap from AuboScope. 更多...

## Private 成员函数
| TcpContributionModel ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 详细描述

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

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

在文件 tcp_contribution_model.h 第 19 行定义.

## 构造及析构函数说明

## ◆ TcpContributionModel() [1/3]

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

## ◆ TcpContributionModel() [2/3]

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

## ◆ ~TcpContributionModel()

virtual arcs::aubo_scope::TcpContributionModel::~TcpContributionModel | ( |  | ) |
| virtual

## ◆ TcpContributionModel() [3/3]

arcs::aubo_scope::TcpContributionModel::TcpContributionModel | ( |  | ) |
| private

## 成员函数说明

## ◆ addTcp()

TCPPtr arcs::aubo_scope::TcpContributionModel::addTcp | ( | const std::string & | idKey,
|  | const std::string & | suggested_name,
|  | const std::vector< double > & | offset
| ) |  |

Add a TCP to the current AuboScope installation.

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

参数

  idKey | The key to identify this TCP 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.
  suggested_name | Suggested name for the tcp/ 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 TCP instance.
  offset | The offset of the TCP with respect to the tool output flange

返回
  The TCP created and registered in AuboScope.

异常

  TCPAlreadyAddedException | If called twice using the same `idKey`. Use getTCP(std::string) to check if the TCP has already been added to the current installation. Use {} to update the TCP if the offset of the TCP has changed. IllegalTCPNameException If the suggested name does not match required regex. IllegalArgumentException If the pose specified for the offset is not inside the valid range of a TCP offset as defined by AuboScope.

## ◆ getTcp()

TCPPtr arcs::aubo_scope::TcpContributionModel::getTcp | ( | const std::string & | idKey | ) |

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

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

参数

  idKey | The key to identify this TCP by.

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

## ◆ removeTcp()

void arcs::aubo_scope::TcpContributionModel::removeTcp | ( | const std::string & | idKey | ) |

Remove a TCP added by this AuboCap from AuboScope.

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

参数

  idKey | The key used to add the TCP with.

异常

  TCPNotFoundException | If no TCP exists with the provided `idKey`.

## ◆ updateTcp()

void arcs::aubo_scope::TcpContributionModel::updateTcp | ( | const std::string & | idKey,
|  | const std::vector< double > & | newOffset
| ) |  |

Update the offset of a TCP already added by this AuboCap.

参数

  idKey | The key to identify the tcp/ A TCP must have been added prior to this method call using the same key.
  newOffset | The new offset to set for the TCP with respect to the tool output flange.

异常

  TCPNotFoundException | If no TCP exists with the provided `idKey`.
  IllegalArgumentException | If the pose specified for the offset is not inside the valid range of a TCP offset as defined by AuboScope.

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 tcp_contribution_model.h 第 90 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 tcp_contribution_model.h 第 92 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/tcp/tcp_contribution_model.h