AuboStudio SDK 0.6.3

grip_action_parameters.h
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1 #ifndef AUBO_SCOPE_GRIP_ACTION_PARAMETERS_H
2 #define AUBO_SCOPE_GRIP_ACTION_PARAMETERS_H
3
4 #include <aubo_caps/domain/script/script_writer.h>
5
6 namespace arcs {
7 namespace aubo_scope {
8 ARCS_CLASS_FORWARD(GripActionParameters);
9
10 /**
11 * <p>
12 * This interface represents parameters for a gripping action defined/configured
13 * by the end user.
14 * </p>
15 *
16 * These parameters are used when generating script code for a gripping action
17 * (see
18 * {@link GripperContribution#generateGripActionScript(ScriptWriter,
19 * GripActionParameters)}).
20 */
21 class GripActionParameters
22 {
23 public:
24 virtual ~GripActionParameters() = default;
25
26 /**
27 * <p>
28 * Get the selected force to be used the gripping action.
29 * </p>
30 *
31 * This is only valid, if the force capability has been registered
32 * (using the method
33 * {@link GripperCapabilities#registerGrippingForceCapability(double,
34 * double, double, Force.Unit)}).
35 *
36 * @return The force to use for the gripping action
37 * @throws UnsupportedOperationException if the gripper has not
38 * registered the force capability
39 */
40 virtual double getForce() = 0;
41
42 /**
43 * <p>
44 * Get the selected width to be used for the gripping action.
45 * </p>
46 *
47 * This is only valid, if the width capability has been registered (using
48 * the method
49 * {@link GripperCapabilities#registerWidthCapability(double, double,
50 * double, double, Length.Unit)}).
51 *
52 * @return The width to use for the gripping action
53 * @throws UnsupportedOperationException if the gripper has not registered
54 * the width capability
55 */
56 virtual double getWidth() = 0;
57
58 /**
59 * <p>
60 * Get the selected vacuum level to be used for the gripping action.
61 * </p>
62 *
63 * This is only valid, if the vacuum capability has been registered (using
64 * the method
65 * {@link GripperCapabilities#registerGrippingVacuumCapability(double,
66 * double, double, Pressure.Unit)}).
67 *
68 * @return The vacuum level to use for the gripping action
69 * @throws UnsupportedOperationException if the gripper has not registered
70 * the vacuum capability
71 */
72 virtual double getVacuum() = 0;
73
74 /**
75 * <p>
76 * Get the selected speed to be used for the gripping action.
77 * </p>
78 *
79 * This is only valid, if the speed capability has been registered (using
80 * the method
81 * {@link GripperCapabilities#registerSpeedCapability(double, double,
82 * double, double, Speed.Unit)}).
83 *
84 * @return The speed to use for the gripping action
85 * @throws UnsupportedOperationException if the gripper has not registered
86 * the speed capability
87 */
88 virtual double getSpeed() = 0;
89
90 /**
91 * <p>
92 * Use this method to determine whether the grip detection option in the
93 * Gripper program node is on or off.
94 * </p>
95 *
96 * <p>
97 * Note that this method will report that grip detection is off, when script
98 * code is to be generated due to the user testing a grip configuration of a
99 * gripper program or operating the gripper using the toolbar.
100 * </p>
101 *
102 * <p>
103 * This method should only be called, if the grip detected feedback
104 * capability has been registered (using
105 * {@link
106 * GripperFeedbackCapabilities#registerGripDetectedCapability(ScriptCodeGenerator)}).
107 * </p>
108 *
109 * <p>
110 * The purpose of this method is to ensure that the appropriate script code
111 * for performing a grip action is generated when the end user has specified
112 * a new payload value. The user-defined payload value will be applied by
113 * AuboScope immediately after the generated grip action script code has
114 * finished executing. Depending on the enablement state of grip detection,
115 * the generated script should have the following properties: <ul> <li>
116 * <i>Grip detection off:</i> The script code should not finish
117 * earlier than when it is appropriate to apply the new payload value (i.e.
118 * when the object has been gripped). This typically means that the script
119 * code should wait a time period corresponding to closing the gripper's
120 * "fingers" fully (if the gripper is vacuum operated then long enough to
121 * achieve some level of vacuum).
122 * </li>
123 * <li>
124 * <i>Grip detection on:</i> The payload will only be set if the
125 * grip detection was successful, i.e. it will be applied immediately after
126 * a grip was detected. This means that it is not necessary for the script
127 * code to wait (since the built-in detection timeout functionality will
128 * handle the waiting part).
129 * </li>
130 * </ul>
131 * </p>
132 *
133 * @return <code>true</code> if the end user has enabled grip detection, and
134 * <code>false</code> if grip detection is disabled.
135 * @throws UnsupportedOperationException if the gripper has not registered
136 * the grip detected feedback capability
137 */
138 virtual bool isGripDetectionEnabled() = 0;
139 };
140 } // namespace aubo_scope
141 } // namespace arcs
142 #endif
arcs::aubo_scope::GripActionParameters
Definition: grip_action_parameters.h:22
arcs::aubo_scope::GripActionParameters::getWidth
virtual double getWidth()=0
arcs::aubo_scope::GripActionParameters::getForce
virtual double getForce()=0
arcs::aubo_scope::GripActionParameters::getVacuum
virtual double getVacuum()=0
arcs::aubo_scope::GripActionParameters::getSpeed
virtual double getSpeed()=0
arcs::aubo_scope::GripActionParameters::~GripActionParameters
virtual ~GripActionParameters()=default
arcs::aubo_scope::GripActionParameters::isGripDetectionEnabled
virtual bool isGripDetectionEnabled()=0
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7
script_writer.h