AuboStudio SDK 0.6.3

函数
PayloadContributionModel (动态负载管理)

动态负载管理 更多...

## 函数
PayloadPtr | arcs::aubo_scope::PayloadContributionModel::addPayload (const std::string &id_key, const std::string &suggested_name, double mass, const std::vector< double > &center_of_gravity)
PayloadPtr | arcs::aubo_scope::PayloadContributionModel::addPayload (const std::string &id_key, const std::string &suggested_name, double mass, const std::vector< double > &center_of_gravity, const std::vector< double > &inertiaMatrix)
PayloadPtr | arcs::aubo_scope::PayloadContributionModel::getPayload (const std::string &id_key)
| Returns the payload previously added by this AuboCap using the same `idKey` identifier. 更多...
void | arcs::aubo_scope::PayloadContributionModel::updatePayload (const std::string &id_key, double mass, const std::vector< double > &center_of_gravity)
void | arcs::aubo_scope::PayloadContributionModel::updatePayload (const std::string id_key, double mass, const std::vector< double > &center_of_gravity, const std::vector< double > &inertia_matrix)
| Update the mass, center of gravity (CoG) and inertia matrix of an existing payload added by this AuboCap. 更多...
void | arcs::aubo_scope::PayloadContributionModel::removePayload (const std::string &id_key)
| Remove a payload added by this AuboCap from AuboScope. 更多...

## 详细描述

动态负载管理

## 函数说明

## ◆ addPayload() [1/2]

PayloadPtr arcs::aubo_scope::PayloadContributionModel::addPayload | ( | const std::string & | id_key,
|  | const std::string & | suggested_name,
|  | double | mass,
|  | const std::vector< double > & | center_of_gravity
| ) |  |

Add a payload to the current installation in AuboScope.

This makes the payload selectable by the end user as well as available to other AuboCap contributions (through the PayloadModel interface). The payload is not modifiable by the end user or other aubo_studio plugins.

A default guess for the inertia matrix for the payload will be computed based on the specified payload mass and center of gravity. If data for the payload's inertia matrix is available, the method addPayload(String, String, Mass, Position, InertiaMatrix) can used instead (this might give better performance of the robot arm).

Note: The specified payload mass must be the total mass of the payload attached to the tool output flange of the robot.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with {} (an instance of the RobotModel} interface can be retrieved through { SystemAPI#getRobotModel()}). idKey The key to identify this payload by, not `null` nor an empty string. 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 payload, not `null` nor an empty string. 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 payload instance. mass The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using { SimpleValueFactory#createMass(double, Mass.Unit)}. centerOfGravity The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be `null`. Create it using the { PositionFactory} interface. The payload created and registered in AuboScope. PayloadAlreadyAddedException If a payload has previously been added using the same `idKey` identifier. Use { #getPayload(String)} to check if the payload has already been added to the current installation. Use #updatePayload(String, Mass, Position)} or #updatePayload(String, Mass, Position, InertiaMatrix)} to update the payload if the payload parameters have changed. IllegalPayloadNameException If the suggested name does not match required regex. IllegalMassException If the specified mass is not inside the valid range as defined by AuboScope. IllegalCenterOfGravityException If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.

## ◆ addPayload() [2/2]

PayloadPtr arcs::aubo_scope::PayloadContributionModel::addPayload | ( | const std::string & | id_key,
|  | const std::string & | suggested_name,
|  | double | mass,
|  | const std::vector< double > & | center_of_gravity,
|  | const std::vector< double > & | inertiaMatrix
| ) |  |

Add a payload to the current installation in AuboScope.

This makes the payload selectable by the end user as well as available to other AuboCap contributions (through the PayloadModel interface). The payload is not modifiable by the end user or other aubo_studio plugins.

Use the String, Mass, Position, InertiaMatrix) method instead if data for the payload's inertia matrix is not available.

Note: The specified payload mass must be the total mass of the payload attached to the tool output flange of the robot.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with {} (an instance of the RobotModel} interface can be retrieved through { SystemAPI#getRobotModel()}). idKey The key to identify this payload by, not `null` nor an empty string. 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 payload, not `null` nor an empty string. 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 payload instance. mass The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using { SimpleValueFactory#createMass(double, Mass.Unit)}. centerOfGravity The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be `null`. Create it using the { PositionFactory} interface. inertiaMatrix The inertia matrix of the payload, defined in a coordinate system with center at the payload's center of gravity and the axes aligned with the tool output flange coordinate system (axes). Cannot be `null`. Create it using #createInertiaMatrix(double, double, double, double, double, double, MomentOfInertia.Unit)}. The payload created and registered in AuboScope. PayloadAlreadyAddedException If a payload has previously been added using the same `idKey` identifier. Use { #getPayload(String)} to check if the payload has already been added to the current installation. Use #updatePayload(String, Mass, Position)} or #updatePayload(String, Mass, Position, InertiaMatrix)} to update the payload if the payload parameters have changed. IllegalPayloadNameException If the suggested name does not match required regex. IllegalMassException If the specified mass is not inside the valid range as defined by AuboScope. IllegalCenterOfGravityException If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope. IllegalInertiaMatrixException If any of the values of the specified inertia matrix are not inside the valid range as defined by AuboScope.

## ◆ getPayload()

PayloadPtr arcs::aubo_scope::PayloadContributionModel::getPayload | ( | const std::string & | id_key | ) |

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

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

参数

  idKey | The key to identify this payload by, not `null` nor an empty string.

返回
  The payload previously added by this AuboCap. Returns `null` if no payload exists in current installation (with the specified `idKey` identifier).

## ◆ removePayload()

void arcs::aubo_scope::PayloadContributionModel::removePayload | ( | const std::string & | id_key | ) |

Remove a payload added by this AuboCap from AuboScope.

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

参数

  idKey | The identifier key used to add the payload with, not null nor an empty string.

异常

  PayloadNotFoundException | If no payload exists with the provided `idKey` identifier in the current installation.

## ◆ updatePayload() [1/2]

void arcs::aubo_scope::PayloadContributionModel::updatePayload | ( | const std::string & | id_key,
|  | double | mass,
|  | const std::vector< double > & | center_of_gravity
| ) |  |

Update the mass and center of gravity (CoG) of an existing payload added by this AuboCap.

Note: If an inertia matrix has been specified for the payload, calling this method will replace (overwrite) it with a computed default guess based the new specified payload mass and center of gravity. To avoid overwriting an existing inertia matrix (or to update an existing inertia matrix), instead use the method updatePayload(String, Mass, Position, InertiaMatrix).

参数

  idKey | The key to identify the payload, not `null` nor an empty string. A payload must have been added using the same key prior to calling this method.
  mass | The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using {}. centerOfGravity The center of gravity of the payload, not *null . Create it using the PositionFactory} interface. PayloadNotFoundException If no payload exists with the provided `idKey` identifier in the current installation. IllegalMassException If the specified mass is not inside the valid range as defined by AuboScope. IllegalCenterOfGravityException If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.

## ◆ updatePayload() [2/2]

void arcs::aubo_scope::PayloadContributionModel::updatePayload | ( | const std::string | id_key,
|  | double | mass,
|  | const std::vector< double > & | center_of_gravity,
|  | const std::vector< double > & | inertia_matrix
| ) |  |

Update the mass, center of gravity (CoG) and inertia matrix of an existing payload added by this AuboCap.

参数

  idKey | The key to identify the payload, not `null` nor an empty string. A payload must have been added using the same key prior to calling this method.
  mass | The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using {}. centerOfGravity The center of gravity of the payload, not null . Create it using the PositionFactory} interface. inertiaMatrix The inertia matrix of the payload, not `null`. Create it using #createInertiaMatrix(double, double, double, double, double, double, MomentOfInertia.Unit)} PayloadNotFoundException If no payload exists with the provided `idKey` identifier in the current installation. IllegalMassException If the specified mass is not inside the valid range as defined by AuboScope. IllegalCenterOfGravityException If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope. IllegalInertiaMatrixException If any of the values of the specified inertia matrix are not inside the valid range as defined by AuboScope.