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::UntilNode类 参考

`#include <until_node.h>`

类 arcs::aubo_scope::UntilNode 继承关系图:
[图例]
arcs::aubo_scope::UntilNode 的协作图:
[图例]

## Public 类型
enum | ConfigType : short { EXPRESSION , TOOL_CONTACT , IO_INPUT , DISTANCE , REACHED_WAYPOINT , NONE_CONFIG_TYPE }
| The configuration type used to determine which type of configuration this instance is. 更多...
enum | CompareOperator : int { LESS_THAN , GREATER_THAN }
| Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold 更多...
enum | BlendParameterType { NO_BLEND , CUSTOM_BLEND }
| Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations). 更多...
enum | CustomDecelerationParameterType { Unknown , Angular , Cartesian }
enum | DecelerationParameterType { SHARED_DECELERATION , CUSTOM_DECELERATION }
| The deceleration parameter type used to determine which type of deceleration parameter this instance is. 更多...
enum | IOInputSelectionType { NONE_INPUT_SELECT , DIGITAL_INPUT , ANALOG_INPUT , FLOAT_REGISTER_INPUT }
| The type of the input selection. 更多...

## Public 成员函数
| UntilNode (UntilNode &f)
| UntilNode (UntilNode &&f)
virtual | ~UntilNode ()
ConfigType | getConfigType ()
| This method returns the type of configuration. 更多...
void | setConfigType (ConfigType type)
BlendParameterType | getBlendParameterType ()
void | setBlendParameterType (BlendParameterType type)
void | setWaypointBlendParameter (double suggested_blend)
| Creates blend parameters for an Until node. 更多...
double | getWaypointBlendParameter ()
DecelerationParameterType | getDecelerationParameterType ()
void | setDecelerationParameterType (DecelerationParameterType type)
void | setDecelerationParameters (double deceleration)
double | getDecelerationParameters ()
CustomDecelerationParameterType | getCustomDecelerationParameterType ()
void | setCustomDecelerationParameterType (CustomDecelerationParameterType type)
double | getAngularDeceleration ()
| The rate at which to decelerate when the until condition is met. 更多...
void | setAngularDeceleration (double dec)
double | getCartesianDeceleration ()
| The rate at which to decelerate when the until condition is met. 更多...
void | setCartesianDeceleration (double dec)
void | setExpressionConfig (ExpressionPtr expression)
ExpressionPtr | getExpressionConfig ()
double | getDistance ()
| The distance the robot will travel. 更多...
void | setDistance (double dis)
IOInputSelectionType | getIOInputSelectionType ()
void | setIOInputSelectionType (IOInputSelectionType type)
void | setDigitalInputValueToProceed (bool value_to_proceed_until)
| Creates an I/O Input configuration for an Until node. 更多...
bool | getDigitalInputValueToProceed ()
void | setAnalogInputValueToProceed (double value)
| Creates an I/O Input configuration for an Until node. 更多...
double | getAnalogInputValueToProceed ()
void | setCompareOperator (CompareOperator compare_operator)
CompareOperator | getCompareOperator ()
Public 成员函数 继承自 arcs::aubo_scope::ProgramNode
| ProgramNode (ProgramNode &f)
| ProgramNode (ProgramNode &&f)
virtual | ~ProgramNode ()
ProgramNodeContributionPtr | getProgramNodeContribution ()
| 不推荐用户调用 ProgramNodeContribution::generateScript 使用 ScriptWritter::writeChildren 更多...

## Private 成员函数
| UntilNode ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 额外继承的成员函数
Protected 成员函数 继承自 arcs::aubo_scope::ProgramNode
| ProgramNode ()

## 详细描述

The Until node is a type of program node that must be under a Waypoint node or Direction node.

It has special behavior when calling {} and { TreeNode#removeChild(TreeNode)}. Until nodes by default are leaf nodes, however they can have actions added to them. When that happens they are transformed into branch nodes that allow child nodes. When the last child is removed they become leaf nodes again. This is all automatically handled when TreeNode#addChild(ProgramNode)} and { TreeNode#removeChild(TreeNode)} are called.

在文件 until_node.h 第 28 行定义.

## 成员枚举类型说明

## ◆ BlendParameterType

enum arcs::aubo_scope::UntilNode::BlendParameterType

Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations).

枚举值
NO_BLEND | The robot arm will stop without performing a blend.
CUSTOM_BLEND | Custom blend has been selected. The blend instance can be cast to CustomBlendParameters.

在文件 until_node.h 第 108 行定义.

## ◆ CompareOperator

enum arcs::aubo_scope::UntilNode::CompareOperator : int

Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold

枚举值
LESS_THAN |
GREATER_THAN |

在文件 until_node.h 第 97 行定义.

## ◆ ConfigType

enum arcs::aubo_scope::UntilNode::ConfigType : short

The configuration type used to determine which type of configuration this instance is.

枚举值
EXPRESSION | An Until node where the until condition is true once the evaluation of an expression is true. The config instance can be cast to {}.
TOOL_CONTACT | An Until node where the until condition is true once an impact on the Tool is detected. This functionality is not supported by the API.
IO_INPUT | An Until node where the until condition is true once a given I/O reaches a certain value. The config can be cast to IOInputUntilNodeConfig.
DISTANCE | An Until node where the until condition is true once a given distance is reached. The config can be cast to DistanceUntilNodeConfig.
REACHED_WAYPOINT | An Until node where the until condition is true once its parent Waypoint is reached. The config can be cast to ReachedWaypointUntilNodeConfig.
NONE_CONFIG_TYPE | An undefined Until node with no type set yet.

在文件 until_node.h 第 35 行定义.

## ◆ CustomDecelerationParameterType

enum arcs::aubo_scope::UntilNode::CustomDecelerationParameterType

枚举值
Unknown | This deceleration was either created specifying values for both AngularAcceleration and Acceleration and/or is in use in an Until node that is not yet in the program tree.
Angular | This deceleration is currently used under a MoveJ node.
Cartesian | This deceleration is currently used under a MoveL or MoveP node.

在文件 until_node.h 第 126 行定义.

## ◆ DecelerationParameterType

enum arcs::aubo_scope::UntilNode::DecelerationParameterType

The deceleration parameter type used to determine which type of deceleration parameter this instance is.

枚举值
SHARED_DECELERATION | Shared deceleration has been selected. The acceleration values from the parent Move node will be used as deceleration (absolute value).
CUSTOM_DECELERATION | Custom deceleration has been selected. This instance can be cast to CustomDecelerationParameters.

在文件 until_node.h 第 151 行定义.

## ◆ IOInputSelectionType

enum arcs::aubo_scope::UntilNode::IOInputSelectionType

The type of the input selection.

枚举值
NONE_INPUT_SELECT | The node is not fully configured.
DIGITAL_INPUT | Digital input is selected. The config instance can be cast to {}.
ANALOG_INPUT | Analog input is selected. The config instance can be cast to {}.
FLOAT_REGISTER_INPUT | A float input register is selected. The config instance can be cast to {}.

在文件 until_node.h 第 172 行定义.

## 构造及析构函数说明

## ◆ UntilNode() [1/3]

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

## ◆ UntilNode() [2/3]

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

## ◆ ~UntilNode()

virtual arcs::aubo_scope::UntilNode::~UntilNode | ( |  | ) |
| virtual

## ◆ UntilNode() [3/3]

arcs::aubo_scope::UntilNode::UntilNode | ( |  | ) |
| private

## 成员函数说明

## ◆ getAnalogInputValueToProceed()

double arcs::aubo_scope::UntilNode::getAnalogInputValueToProceed | ( |  | ) |

## ◆ getAngularDeceleration()

double arcs::aubo_scope::UntilNode::getAngularDeceleration | ( |  | ) |

The rate at which to decelerate when the until condition is met.

返回
  the specified angular deceleration of the until node (absolute value).

## ◆ getBlendParameterType()

BlendParameterType arcs::aubo_scope::UntilNode::getBlendParameterType | ( |  | ) |

## ◆ getCartesianDeceleration()

double arcs::aubo_scope::UntilNode::getCartesianDeceleration | ( |  | ) |

The rate at which to decelerate when the until condition is met.

返回
  the specified Cartesian deceleration of the until node (absolute value).

## ◆ getCompareOperator()

CompareOperator arcs::aubo_scope::UntilNode::getCompareOperator | ( |  | ) |

## ◆ getConfigType()

ConfigType arcs::aubo_scope::UntilNode::getConfigType | ( |  | ) |

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

返回
  the type of this config.

## ◆ getCustomDecelerationParameterType()

CustomDecelerationParameterType arcs::aubo_scope::UntilNode::getCustomDecelerationParameterType | ( |  | ) |

返回
  the deceleration type. This can change depending on the Move node type above the Until node.

## ◆ getDecelerationParameters()

double arcs::aubo_scope::UntilNode::getDecelerationParameters | ( |  | ) |

## ◆ getDecelerationParameterType()

DecelerationParameterType arcs::aubo_scope::UntilNode::getDecelerationParameterType | ( |  | ) |

## ◆ getDigitalInputValueToProceed()

bool arcs::aubo_scope::UntilNode::getDigitalInputValueToProceed | ( |  | ) |

## ◆ getDistance()

double arcs::aubo_scope::UntilNode::getDistance | ( |  | ) |

The distance the robot will travel.

返回
  The distance.

## ◆ getExpressionConfig()

ExpressionPtr arcs::aubo_scope::UntilNode::getExpressionConfig | ( |  | ) |

## ◆ getIOInputSelectionType()

IOInputSelectionType arcs::aubo_scope::UntilNode::getIOInputSelectionType | ( |  | ) |

## ◆ getWaypointBlendParameter()

double arcs::aubo_scope::UntilNode::getWaypointBlendParameter | ( |  | ) |

## ◆ setAnalogInputValueToProceed()

void arcs::aubo_scope::UntilNode::setAnalogInputValueToProceed | ( | double | value | ) |

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the the signal value of a given analog input goes past a specified electric Current threshold.

参数

  input | the analog input whose signal value will determine whether the until condition is met, not `null`.
  compareOperator | the operator to use when comparing the signal value of the selected analog input to the threshold value, not `null`. Available options are "less than" ({@literal <}) or "greater than" ({@literal >}).
  currentThreshold | the electric Current threshold for the signal value of the analog input. Execution will proceed until the signal value of the selected analog input goes past this threshold.
  errorHandler | the error handler for validation errors. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid current value.

返回
  the Until node configuration.

异常

  IllegalArgumentException | if `input` is an output (does not support reading of values). See IO#isInput().

## ◆ setAngularDeceleration()

void arcs::aubo_scope::UntilNode::setAngularDeceleration | ( | double | dec | ) |

## ◆ setBlendParameterType()

void arcs::aubo_scope::UntilNode::setBlendParameterType | ( | BlendParameterType | type | ) |

## ◆ setCartesianDeceleration()

void arcs::aubo_scope::UntilNode::setCartesianDeceleration | ( | double | dec | ) |

## ◆ setCompareOperator()

void arcs::aubo_scope::UntilNode::setCompareOperator | ( | CompareOperator | compare_operator | ) |

## ◆ setConfigType()

void arcs::aubo_scope::UntilNode::setConfigType | ( | ConfigType | type | ) |

## ◆ setCustomDecelerationParameterType()

void arcs::aubo_scope::UntilNode::setCustomDecelerationParameterType | ( | CustomDecelerationParameterType | type | ) |

## ◆ setDecelerationParameters()

void arcs::aubo_scope::UntilNode::setDecelerationParameters | ( | double | deceleration | ) |

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

参数

  deceleration | the angular deceleration (the value for the Cartesian deceleration will be the default value that AuboScope uses), not `null`.
  decelerationErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

返回
  the deceleration parameter for the Until node.

## ◆ setDecelerationParameterType()

void arcs::aubo_scope::UntilNode::setDecelerationParameterType | ( | DecelerationParameterType | type | ) |

## ◆ setDigitalInputValueToProceed()

void arcs::aubo_scope::UntilNode::setDigitalInputValueToProceed | ( | bool | value_to_proceed_until | ) |

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the signal value of a given digital input goes HIGH or LOW.

参数

  input | the digital input whose signal value will determine whether the until condition is met, not `null`.
  valueToProceedUntil | `true`, if the until condition is met when the input signal value goes HIGH, `false` otherwise (condition met when signal value is LOW).

返回
  the Until node configuration.

异常

  IllegalArgumentException | if `input` is an output (does not support reading of values). See IO#isInput().

## ◆ setDistance()

void arcs::aubo_scope::UntilNode::setDistance | ( | double | dis | ) |

## ◆ setExpressionConfig()

void arcs::aubo_scope::UntilNode::setExpressionConfig | ( | ExpressionPtr | expression | ) |

Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter. The until condition for this configuration is true once the evaluation of the expression is true.

Note that this default value may change between AuboScope versions.

参数

  expression | the expression whose evaluation will determine whether the until condition is met.

返回
  the Until node configuration.

## ◆ setIOInputSelectionType()

void arcs::aubo_scope::UntilNode::setIOInputSelectionType | ( | IOInputSelectionType | type | ) |

## ◆ setWaypointBlendParameter()

void arcs::aubo_scope::UntilNode::setWaypointBlendParameter | ( | double | suggested_blend | ) |

Creates blend parameters for an Until node.

Can be used in a Distance configuration type.

参数

  suggestedBlend | This blend value may be (automatically) corrected depending on the value of the distance parameter the Distance configuration.

返回
  the blend parameters for the Until node.

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 until_node.h 第 364 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 until_node.h 第 366 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/program/nodes/builtin/until_node.h