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::SetPayloadNode类 参考

`#include <set_payload_node.h>`

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

## Public 类型
enum | ConfigType { PAYLOAD_SELECTION , CUSTOM_PARAMETERS }
| This base interface represents a configuration of the Set Payload program node (i.e. 更多...

## Public 成员函数
| SetPayloadNode (SetPayloadNode &f)
| SetPayloadNode (SetPayloadNode &&f)
virtual | ~SetPayloadNode ()
ConfigType | getConfigType ()
| This method returns the type of configuration. 更多...
void | setConfigType (ConfigType type)
double | getMass ()
void | setMass (double mass)
std::vector< double > | getCenterOfGravity ()
| Gets the payload's center of gravity (CoG), also referred to as center of mass. 更多...
void | setCenterOfGravity (const std::vector< double > &cog)
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
| SetPayloadNode ()

## 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

在文件 set_payload_node.h 第 11 行定义.

## 成员枚举类型说明

## ◆ ConfigType

enum arcs::aubo_scope::SetPayloadNode::ConfigType

This base interface represents a configuration of the Set Payload program node (i.e.

a SetPayloadNode instance).

枚举值
PAYLOAD_SELECTION | A payload (from the installation) is selected. The config instance can be cast to {}.
CUSTOM_PARAMETERS | Custom payload parameters are specified. The config instance can be cast to {}.

在文件 set_payload_node.h 第 19 行定义.

## 构造及析构函数说明

## ◆ SetPayloadNode() [1/3]

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

## ◆ SetPayloadNode() [2/3]

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

## ◆ ~SetPayloadNode()

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

## ◆ SetPayloadNode() [3/3]

arcs::aubo_scope::SetPayloadNode::SetPayloadNode | ( |  | ) |
| private

## 成员函数说明

## ◆ getCenterOfGravity()

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

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

## ◆ getConfigType()

ConfigType arcs::aubo_scope::SetPayloadNode::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.

## ◆ getMass()

double arcs::aubo_scope::SetPayloadNode::getMass | ( |  | ) |

返回
  The total mass of the payload

## ◆ setCenterOfGravity()

void arcs::aubo_scope::SetPayloadNode::setCenterOfGravity | ( | const std::vector< double > & | cog | ) |

## ◆ setConfigType()

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

## ◆ setMass()

void arcs::aubo_scope::SetPayloadNode::setMass | ( | double | mass | ) |

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 set_payload_node.h 第 73 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 set_payload_node.h 第 75 行定义.

该类的文档由以下文件生成:

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