AuboStudio SDK 0.6.3

grip_vacuum_capability.h
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1 #ifndef AUBO_SCOPE_GRIP_VACUUM_CAPABILITY_H
2 #define AUBO_SCOPE_GRIP_VACUUM_CAPABILITY_H
3
4 #include <aubo_caps/class_forward.h>
5
6 namespace arcs {
7 namespace aubo_scope {
8 ARCS_CLASS_FORWARD(GripVacuumCapability);
9
10 /**
11 * <p>
12 * This interface represents a registered vacuum capability for a gripper which
13 * supports gripping using a user configurable vacuum level.
14 * </p>
15 *
16 * Through this interface, it is possible to adjust the range and default value
17 * for the vacuum level after the capability has been registered. This is
18 * typically not applicable for most grippers, but can be relevant when the
19 * range depends on another custom gripper setting (which can be configured by
20 * the user).
21 */
22 class GripVacuumCapability
23 {
24 public:
25 virtual ~GripVacuumCapability() = 0;
26
27 /**
28 * <p>
29 * Update the range and default value for the vacuum level supported by the
30 * gripper.
31 * </p>
32 *
33 * <p>
34 * Updating the range could result in an already entered value in the
35 * configuration of a gripper program node being outside the range. This
36 * will make the given program node undefined, and force the end user to
37 * adjust the value to be valid again.
38 * </p>
39 *
40 * If the gripper works with absolute pressure, specify a positive range for
41 * the supported vacuum level. If the gripper works with relative pressure
42 * (vacuum), specify a negative range for the supported vacuum level.
43 *
44 * @param minVacuum minimum vacuum level supported by the gripper
45 * @param maxVacuum maximum vacuum level supported by the gripper
46 * @param defaultGripVacuum default value for the vacuum level for a grip
47 * action. This value is used for, e.g. performing a "default" grip action
48 * using the toolbar
49 * @param unit the unit for all specified values, not <code>null</code>
50 * @throws InvalidCapabilityRange if <code>minVacuum</code> >
51 * <code>maxVacuum</code> or <code>defaultGripVacuum</code> is outside the
52 * range defined by <code>minVacuum</code> and <code>maxVacuum</code>.
53 */
54 virtual void updateCapability(double minVacuum, double maxVacuum,
55 double defaultGripVacuum) = 0;
56 };
57 } // namespace aubo_scope
58 } // namespace arcs
59
60 #endif
class_forward.h
arcs::aubo_scope::GripVacuumCapability
Definition: grip_vacuum_capability.h:23
arcs::aubo_scope::GripVacuumCapability::updateCapability
virtual void updateCapability(double minVacuum, double maxVacuum, double defaultGripVacuum)=0
arcs::aubo_scope::GripVacuumCapability::~GripVacuumCapability
virtual ~GripVacuumCapability()=0
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7