AuboStudio SDK 0.6.3

grip_force_capability.h
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1 #ifndef AUBO_SCOPE_GRIP_FORCE_CAPABILITY_H
2 #define AUBO_SCOPE_GRIP_FORCE_CAPABILITY_H
3
4 #include <aubo_caps/class_forward.h>
5
6 namespace arcs {
7 namespace aubo_scope {
8 ARCS_CLASS_FORWARD(GripForceCapability);
9
10 /**
11 * <p>
12 * This interface represents a registered force capability for a gripper which
13 * supports gripping using a user configurable force.
14 * </p>
15 *
16 * Through this interface, it is possible to adjust the range and default value
17 * for the force after the capability has been registered. This is typically not
18 * applicable for most grippers, but can be relevant when the range depends on
19 * another custom gripper setting (which can be configured by the user).
20 */
21 class GripForceCapability
22 {
23 public:
24 virtual ~GripForceCapability() = 0;
25
26 /**
27 * <p>
28 * Update the range and default value for the force supported by the
29 * gripper.
30 * </p>
31 *
32 * Updating the range could result in an already entered value in the
33 * configuration of a gripper program node being outside the range. This
34 * will make the given program node undefined, and force the end user to
35 * adjust the value to be valid again.
36 *
37 * @param minForce minimum force supported by the gripper
38 * @param maxForce maximum force supported by the gripper
39 * @param defaultGripForce default value for the force for a grip action.
40 * This value is used for, e.g. performing a "default" grip action using the
41 * toolbar
42 * @param unit the unit for all specified values, <code>null</code>
43 * @throws InvalidCapabilityRange if <code>minForce</code> > <code>maxForce}
44 * or <code>defaultGripForce</code> is outside the range defined by
45 * <code>minForce</code> and <code>maxForce</code>
46 */
47 virtual void updateCapability(double minForce, double maxForce,
48 double defaultGripForce) = 0;
49 };
50 } // namespace aubo_scope
51 } // namespace arcs
52 #endif
class_forward.h
arcs::aubo_scope::GripForceCapability
Definition: grip_force_capability.h:22
arcs::aubo_scope::GripForceCapability::updateCapability
virtual void updateCapability(double minForce, double maxForce, double defaultGripForce)=0
arcs::aubo_scope::GripForceCapability::~GripForceCapability
virtual ~GripForceCapability()=0
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7