AuboStudio SDK 0.6.3

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

`#include <payload.h>`

## Public 类型
enum | ParametersWarning { NO_WARNING , MASS_0KG , RATED_MASS_EXCEEDED , MASS_AND_CENTER_OF_GRAVITY_EXCEEDED }

## Public 成员函数
| Payload (Payload &f)
| Payload (Payload &&f)
| ~Payload ()
double | getMass () const
std::vector< double > | getCenterOfGravity () const
| Gets the payload's center of gravity (CoG), also referred to as center of mass. 更多...
std::vector< double > | getInertiaMatrix () const
std::string | getDisplayName () const
bool | isResolvable ()
bool | isUsable ()
ParametersWarning | getParametersWarning ()
size_t | hashCode ()

## Private 成员函数
| Payload ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 详细描述

在文件 payload.h 第 16 行定义.

## 成员枚举类型说明

## ◆ ParametersWarning

enum arcs::aubo_scope::Payload::ParametersWarning

This enum represents the different types of warnings that the parameters of a payload can have.

A payload can be usable, but may have a value for a payload parameter or may have a combination of (some of the) payload parameters, that could affect performance of the robot, if the payload is used (i.e., if the parameters are applied).

枚举值
NO_WARNING | None of the parameters of the payload or the combination of payload parameters has any warnings.
MASS_0KG | The payload has a mass of 0 kg which is most likely not intended/valid. Note that the value for the payload mass should be the total mass of the payload attached to the tool output flange of the robot.
RATED_MASS_EXCEEDED | The mass of the payload exceeds the rated maximum supported payload mass of the robot. Using the payload could affect performance of the robot.
MASS_AND_CENTER_OF_GRAVITY_EXCEEDED | The combination of the mass and the center of gravity of could affect the performance of the robot, if the payload is used.

在文件 payload.h 第 34 行定义.

## 构造及析构函数说明

## ◆ Payload() [1/3]

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

## ◆ Payload() [2/3]

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

## ◆ ~Payload()

arcs::aubo_scope::Payload::~Payload | ( |  | ) |

## ◆ Payload() [3/3]

arcs::aubo_scope::Payload::Payload | ( |  | ) |
| private

## 成员函数说明

## ◆ getCenterOfGravity()

std::vector<double> arcs::aubo_scope::Payload::getCenterOfGravity | ( |  | ) | const

Gets the payload's center of gravity (CoG), also referred to as center of mass.

It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.

返回
  The center of gravity (CoG) of the payload relative to the center of the tool output flange

## ◆ hashCode()

size_t arcs::aubo_scope::Payload::hashCode | ( |  | ) |

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 payload.h 第 189 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 payload.h 第 191 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/payload/payload.h