AuboStudio SDK 0.6.3

Public 成员函数 | 所有成员列表
arcs::aubo_scope::GripperConfiguration类 参考abstract

This interface provides access to register or setup various properties and capabilities of a gripper. 更多...

`#include <gripper_configuration.h>`

## Public 成员函数
virtual | ~GripperConfiguration ()=default
virtual WidthCapabilityPtr | registerWidthCapability (double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0
| Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width). 更多...
virtual GripForceCapabilityPtr | registerGrippingForceCapability (double minForce, double maxForce, double defaultGripForce)=0
| Register a force capability for a gripper that supports gripping using a user configurable force. 更多...
virtual SpeedCapabilityPtr | registerSpeedCapability (double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed)=0
| Register a speed capability for a gripper that supports operating using a user configurable speed. 更多...
virtual GripVacuumCapabilityPtr | registerGrippingVacuumCapability (double minVacuum, double maxVacuum, double defaultGripVacuum)=0
virtual void | registerGripDetectedCapability (std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0
virtual void | registerReleaseDetectedCapability (std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0

## 详细描述

This interface provides access to register or setup various properties and capabilities of a gripper.

It is optional to register these capabilities and properties.

在文件 gripper_configuration.h 第 20 行定义.

## 构造及析构函数说明

## ◆ ~GripperConfiguration()

virtual arcs::aubo_scope::GripperConfiguration::~GripperConfiguration | ( |  | ) |
| virtual default

## 成员函数说明

## ◆ registerGripDetectedCapability()

virtual void arcs::aubo_scope::GripperConfiguration::registerGripDetectedCapability | ( | std::function< void(ScriptWriterPtr scriptWriter)> | scriptCodeGenerator | ) |
| pure virtual

Register this feedback capability if the gripper can inform AuboScope whether it has detected that an object has been gripped, after a grip action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been gripped and/or when the grip action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a grip was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the GripActionParameters) method should generate different grip action script code depending on whether the end user has enabled or disabled the grip detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters#isGripDetectionEnabled().

参数

  scriptCodeGenerator | script generator that generates the script code for determining if a grip was detected. When the script code needs to be generated, the method {} will be called (by AuboScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'. CapabilityAlreadyRegistered if this capability has already been registered CalledOutsideGripperConfigurationPhase if this method is called at the wrong time, i.e. outside the scope of the { GripperContribution#configureGripper(GripperConfiguration, GripperAPIProvider)} method.

## ◆ registerGrippingForceCapability()

virtual GripForceCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerGrippingForceCapability | ( | double | minForce,
|  | double | maxForce,
|  | double | defaultGripForce
| ) |  |
| pure virtual

Register a force capability for a gripper that supports gripping using a user configurable force.

参数

  minForce | minimum force supported by the gripper
  maxForce | maximum force supported by the gripper
  defaultGripForce | default value for the force for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
  unit | the unit for all specified values, `null`

返回
  a force capability allowing for dynamic adjustments of the capability properties including the value range and default value

异常

  InvalidCapabilityRange | if `minForce` > `maxForce` or `defaultGripForce` is outside the range defined by `minForce` and `maxForce`.
  CapabilityAlreadyRegistered | if this capability has already been registered
  CalledOutsideGripperConfigurationPhase | if this method is called at the wrong time by a AuboCap implementing the {} interface, i.e. called outside the scope of the configuration of the gripper. CalledOutsideMethodScope if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)}), i.e. called outside the scope of the call to either { SwingProgramNodeService#configureContribution(ContributionConfiguration)} (for a Swing-based AuboCap) or { ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)} (for a HTML-based AuboCap).

## ◆ registerGrippingVacuumCapability()

virtual GripVacuumCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerGrippingVacuumCapability | ( | double | minVacuum,
|  | double | maxVacuum,
|  | double | defaultGripVacuum
| ) |  |
| pure virtual

Register a vacuum capability for a gripper that supports gripping using a user configurable vacuum level.

If the gripper works with absolute pressure, specify a positive range for the supported vacuum level. If the gripper works with relative pressure (vacuum), specify a negative range for the supported vacuum level.

参数

  minVacuum | minimum vacuum level supported by the gripper
  maxVacuum | maximum vacuum level supported by the gripper
  defaultGripVacuum | default value for the vacuum level for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
  unit | the unit for all specified values, not `null`

返回
  a vacuum capability allowing for dynamic adjustments of the capability properties including the value range and default value

异常

  InvalidCapabilityRange | if `minVacuum` > `maxVacuum` or `defaultGripVacuum` is outside the range defined by `minVacuum` and `maxVacuum`.
  CapabilityAlreadyRegistered | if this capability has already been registered
  CalledOutsideGripperConfigurationPhase | if this method is called at the wrong time by a AuboCap implementing the {} interface, i.e. called outside the scope of the configuration of the gripper. CalledOutsideMethodScope if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)}), i.e. called outside the scope of the call to either { SwingProgramNodeService#configureContribution(ContributionConfiguration)} (for a Swing-based AuboCap) or { ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)} (for a HTML-based AuboCap).

## ◆ registerReleaseDetectedCapability()

virtual void arcs::aubo_scope::GripperConfiguration::registerReleaseDetectedCapability | ( | std::function< void(ScriptWriterPtr scriptWriter)> | scriptCodeGenerator | ) |
| pure virtual

Register this feedback capability if the gripper can inform AuboScope whether it has detected an object has been released, after a release action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been released and/or when the release action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a release was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the ReleaseActionParameters) method should generate different release action script code depending on whether the end user has enabled or disabled the release detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters#isGripDetectionEnabled().

参数

  scriptCodeGenerator | script generator that generates the script code for determining if a release was detected. When the script code needs to be generated, the method {} will be called (by AuboScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'. CapabilityAlreadyRegistered if this capability has already been registered CalledOutsideGripperConfigurationPhase if this method is called at the wrong time, i.e. outside the scope of the { GripperContribution#configureGripper(GripperConfiguration, GripperAPIProvider)} method.

## ◆ registerSpeedCapability()

virtual SpeedCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerSpeedCapability | ( | double | minSpeed,
|  | double | maxSpeed,
|  | double | defaultGripSpeed,
|  | double | defaultReleaseSpeed
| ) |  |
| pure virtual

Register a speed capability for a gripper that supports operating using a user configurable speed.

参数

  minSpeed | minimum speed supported by the gripper
  maxSpeed | maximum speed supported by the gripper
  defaultGripSpeed | default value for the speed for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
  defaultReleaseSpeed | default value for the speed for a grip action. This value is used for, e.g. performing a "default" release action using the toolbar
  unit | the unit for all specified values, not `null`

返回
  a speed capability allowing for dynamic adjustments of the capability properties including the value range and default values

异常

  InvalidCapabilityRange | if `minSpeed` > `maxSpeed`
  InvalidCapabilityRange | if `defaultGripSpeed` or defaultReleaseSpeed is outside the range defined by `minSpeed` and `maxSpeed`.
  CapabilityAlreadyRegistered | if this capability has already been registered
  CalledOutsideGripperConfigurationPhase | if this method is called at the wrong time by a AuboCap implementing the {} interface, i.e. called outside the scope of the configuration of the gripper. CalledOutsideMethodScope if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)}), i.e. called outside the scope of the call to either { SwingProgramNodeService#configureContribution(ContributionConfiguration)} (for a Swing-based AuboCap) or { ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)} (for a HTML-based AuboCap).

## ◆ registerWidthCapability()

virtual WidthCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerWidthCapability | ( | double | minWidth,
|  | double | maxWidth,
|  | double | defaultGripWidth,
|  | double | defaultReleaseWidth
| ) |  |
| pure virtual

Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width).

参数

  minWidth | The minimum width supported by the gripper
  maxWidth | The maximum width supported by the gripper
  defaultGripWidth | default value for the width for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
  defaultReleaseWidth | default value for the width for a release action. This value is used for, e.g. performing a "default" release action using the toolbar
  unit | the unit for all specified values, not `null`

返回
  a width capability allowing for dynamic adjustments of the capability properties including the value range and default values

异常

  InvalidCapabilityRange | if `minWidth` > `maxWidth`
  InvalidCapabilityRange | if `defaultGripWidth` or `defaultReleaseWidth` is outside the range defined by `minWidth` and `maxWidth`.
  CapabilityAlreadyRegistered | if this capability has already been registered
  CalledOutsideGripperConfigurationPhase | if this method is called at the wrong time by a AuboCap implementing the {} interface, i.e. called outside the scope of the configuration of the gripper. CalledOutsideMethodScope if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)}), i.e. called outside the scope of the call to either { SwingProgramNodeService#configureContribution(ContributionConfiguration)} (for a Swing-based AuboCap) or { ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)} (for a HTML-based AuboCap).

该类的文档由以下文件生成:

- include/aubo_caps/contribution/driver/gripper/gripper_configuration.h