AuboStudio SDK 0.6.3

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

`#include <width_capability.h>`

## Public 成员函数
virtual | ~WidthCapability ()=default
virtual void | updateCapability (double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0

## 详细描述

This interface represents a registered width/position capability for a gripper which supports moving to a user configurable position (open/close to a configurable width).

Through this interface, it is possible to adjust the range and default values for the width after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

在文件 width_capability.h 第 22 行定义.

## 构造及析构函数说明

## ◆ ~WidthCapability()

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

## 成员函数说明

## ◆ updateCapability()

virtual void arcs::aubo_scope::WidthCapability::updateCapability | ( | double | minWidth,
|  | double | maxWidth,
|  | double | defaultGripWidth,
|  | double | defaultReleaseWidth
| ) |  |
| pure virtual

Update the range and default values for the width supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

参数

  minWidth | minimum width supported by the gripper
  maxWidth | 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`

异常

  InvalidCapabilityRange | if `minWidth} > `maxWidth``
  InvalidCapabilityRange | `if `defaultGripWidth` or `defaultReleaseWidth` is outside the range defined by `minWidth` and `maxWidth`.`

该类的文档由以下文件生成:

- include/aubo_caps/contribution/driver/gripper/capability/width_capability.h