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::WaypointNode类 参考

`#include <waypoint_node.h>`

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

## Public 类型
enum | ConfigType : int { FIXED_POSITION = 0 , VARIABLE_POSITION , RELATIVE_POSITION }
| The configuration type used to determine which type of configuration this instance is. 更多...
enum | BlendType : int { NO_BLEND = 0 , SHARED_BLEND , WAYPOINT_BLEND }
| The blend parameters type used to determine which type of blend parameters this instance is. 更多...
enum | MotionType : int { TIME_MOTION , JOINT_MOTION , TOOL_MOTION , SHARED_MOTION }
| The blend parameters type used to determine which type of blend parameters this instance is. 更多...
enum | VariableType : int { VARIABLE_POSE , VARIABLE_JOINT }
enum | RelativePositionType : int { TEACHING , INPUT }
enum | RelativeOffsetType : int { CUSTOM , VARIABLE }
enum class | PositionDefinition : int { UNDEFINED , DEFINED }
enum | VariableDefinition : int { UNDEFINED , UNDEFINED , DEFINED , DEFINED }

## Public 成员函数
| WaypointNode (WaypointNode &f)
| WaypointNode (WaypointNode &&f)
virtual | ~WaypointNode ()
ConfigType | getConfigType ()
| This method returns the type of configuration. 更多...
BlendType | getBlendType ()
| Get blend type of the waypoint 更多...
MotionType | getMotionType ()
PositionDefinition | getPositionDefinition ()
| Cast this instance appropriately to have access to specific getters. 更多...
VariableDefinition | getVariableDefinition ()
| Cast this instance appropriately to have access to specific getters. 更多...
double | getBlend ()
double | getJointSpeed ()
double | getJointAcceleration ()
double | getTime ()
double | getToolSpeed ()
double | getToolAcceleration ()
std::vector< double > | getPose ()
std::vector< double > | getJointPositions ()
std::vector< double > | getTcpOffset ()
VariablePtr | getVariable ()
void | setSharedMotionParameters ()
void | setTimeMotionParameters (unsigned int duration)
void | setJointMotionParameters (double joint_speed, double joint_acceleration)
void | setToolMotionParameters (double tool_speed, double tool_acceleration)
void | setFixedPositionConfig ()
void | setFixedPositionConfig (const std::vector< double > &pose_including_tcp, const std::vector< double > &qNear)
void | setVariablePositionConfig ()
void | setVariablePositionConfig (VariablePtr variable)
| Creates a variable position configuration for a waypoint with a defined variable 更多...
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
| WaypointNode ()

## 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 waypoint_node.h 第 13 行定义.

## 成员枚举类型说明

## ◆ BlendType

enum arcs::aubo_scope::WaypointNode::BlendType : int

The blend parameters type used to determine which type of blend parameters this instance is.

枚举值
NO_BLEND | No blend has been selected (the robot arm will stop at this point).
SHARED_BLEND | Shared blend has been selected.
WAYPOINT_BLEND | > Waypoint blend has been selected. The blend instance can be cast to WaypointBlendParameters.

在文件 waypoint_node.h 第 52 行定义.

## ◆ ConfigType

enum arcs::aubo_scope::WaypointNode::ConfigType : int

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

枚举值
FIXED_POSITION | Fixed position has been selected (fixed waypoint). The config instance can be cast to {}.
VARIABLE_POSITION | Variable position has been selected (variable waypoint). The config instance can be cast to {}.
RELATIVE_POSITION | Relative position has been selected (relative waypoint).

在文件 waypoint_node.h 第 20 行定义.

## ◆ MotionType

enum arcs::aubo_scope::WaypointNode::MotionType : int

The blend parameters type used to determine which type of blend parameters this instance is.

枚举值
TIME_MOTION | Time motion parameters has been selected. This instance can be cast to TimeMotionParameters.
JOINT_MOTION | Joint motion parameters has been selected. This instance can be cast to JointMotionParameters.
TOOL_MOTION | Tool motion parameters has been selected. This instance can be cast to ToolMotionParameters.
SHARED_MOTION | Shared motion parameters has been selected.

在文件 waypoint_node.h 第 78 行定义.

## ◆ PositionDefinition

enum arcs::aubo_scope::WaypointNode::PositionDefinition : int
| strong

枚举值
UNDEFINED | The position has not been defined.
DEFINED | The position of the waypoint has been defined. Cast this instance to FixedPositionDefinedWaypointNodeConfig.

在文件 waypoint_node.h 第 152 行定义.

## ◆ RelativeOffsetType

enum arcs::aubo_scope::WaypointNode::RelativeOffsetType : int

枚举值
CUSTOM | Custom offset has been selected.
VARIABLE | Variable type has been selected.

在文件 waypoint_node.h 第 139 行定义.

## ◆ RelativePositionType

enum arcs::aubo_scope::WaypointNode::RelativePositionType : int

枚举值
TEACHING | The teaching location has been selected.
INPUT | The input offset has been selected.

在文件 waypoint_node.h 第 126 行定义.

## ◆ VariableDefinition

enum arcs::aubo_scope::WaypointNode::VariableDefinition : int

枚举值
UNDEFINED | A variable has not been selected. This instance has no further information.
UNDEFINED | The position has not been defined.
DEFINED | A variable has been selected making this config defined. Cast this instance to {}.
DEFINED | The position of the waypoint has been defined. Cast this instance to FixedPositionDefinedWaypointNodeConfig.

在文件 waypoint_node.h 第 169 行定义.

## ◆ VariableType

enum arcs::aubo_scope::WaypointNode::VariableType : int

枚举值
VARIABLE_POSE | This variable type pose parameters has been selected.
VARIABLE_JOINT | This variable type joint parameters has been selected.

在文件 waypoint_node.h 第 113 行定义.

## 构造及析构函数说明

## ◆ WaypointNode() [1/3]

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

## ◆ WaypointNode() [2/3]

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

## ◆ ~WaypointNode()

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

## ◆ WaypointNode() [3/3]

arcs::aubo_scope::WaypointNode::WaypointNode | ( |  | ) |
| private

## 成员函数说明

## ◆ getBlend()

double arcs::aubo_scope::WaypointNode::getBlend | ( |  | ) |

Get the blend to be used for the movement.

Note that, if the configuration has not been applied to a waypoint node in the program tree, the blend value returned is a "suggested" value, since the blend may be (automatically) corrected depending on surrounding waypoints in the program tree (when it is applied to a waypoint node).

返回
  the blend for the waypoint.

## ◆ getBlendType()

BlendType arcs::aubo_scope::WaypointNode::getBlendType | ( |  | ) |

Get blend type of the waypoint

返回
  the blend type.

## ◆ getConfigType()

ConfigType arcs::aubo_scope::WaypointNode::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.

## ◆ getJointAcceleration()

double arcs::aubo_scope::WaypointNode::getJointAcceleration | ( |  | ) |

返回
  the joint acceleration to use for the movement.

## ◆ getJointPositions()

std::vector<double> arcs::aubo_scope::WaypointNode::getJointPositions | ( |  | ) |

返回
  the joint positions corresponding to the pose of the robot (when taking the TCP offset into account)

## ◆ getJointSpeed()

double arcs::aubo_scope::WaypointNode::getJointSpeed | ( |  | ) |

返回
  the joint speed to be achieved.

## ◆ getMotionType()

MotionType arcs::aubo_scope::WaypointNode::getMotionType | ( |  | ) |

## ◆ getPose()

std::vector<double> arcs::aubo_scope::WaypointNode::getPose | ( |  | ) |

返回
  the waypoint position and orientation.

## ◆ getPositionDefinition()

PositionDefinition arcs::aubo_scope::WaypointNode::getPositionDefinition | ( |  | ) |

Cast this instance appropriately to have access to specific getters.

返回
  the position definition.

## ◆ getTcpOffset()

std::vector<double> arcs::aubo_scope::WaypointNode::getTcpOffset | ( |  | ) |

返回
  the pose for the TCP offset (used when defining the robot position)

## ◆ getTime()

double arcs::aubo_scope::WaypointNode::getTime | ( |  | ) |

返回
  the time for the waypoint movement.

## ◆ getToolAcceleration()

double arcs::aubo_scope::WaypointNode::getToolAcceleration | ( |  | ) |

返回
  the tool acceleration to use for the movement

## ◆ getToolSpeed()

double arcs::aubo_scope::WaypointNode::getToolSpeed | ( |  | ) |

返回
  the tool speed to be achieved.

## ◆ getVariable()

VariablePtr arcs::aubo_scope::WaypointNode::getVariable | ( |  | ) |

返回
  the variable for the waypoint.

## ◆ getVariableDefinition()

VariableDefinition arcs::aubo_scope::WaypointNode::getVariableDefinition | ( |  | ) |

Cast this instance appropriately to have access to specific getters.

返回
  the variable definition.

## ◆ setFixedPositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig | ( |  | ) |

Creates a fixed position configuration with default values for a waypoint.

Note that these default values may change between AuboScope versions.

返回
  the waypoint configuration.

## ◆ setFixedPositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig | ( | const std::vector< double > & | pose_including_tcp,
|  | const std::vector< double > & | qNear
| ) |  |

Creates a fixed position configuration for a waypoint with a defined pose.

参数

  pose_including_tcp | the position and orientation for the waypoint, not `null`.
  qNear | the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not `null`.
  blendParameters | the blend parameters for the waypoint, not `null`.
  waypoint_motion_parameters | the motion parameters for the waypoint, not `null`.

返回
  the waypoint configuration.

## ◆ setJointMotionParameters()

void arcs::aubo_scope::WaypointNode::setJointMotionParameters | ( | double | joint_speed,
|  | double | joint_acceleration
| ) |  |

Creates joint motion parameters for a waypoint.

Can be used for waypoints under a MoveJ.

参数

  jointSpeed | the joint speed to be achieved, not `null`.
  jointSpeedErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid joint speed value.
  joint_acceleration | the joint acceleration to be used for the movement, not `null`.
  joint_accelerationErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid joint acceleration value.

返回
  the joint motion parameters for the waypoint.

## ◆ setSharedMotionParameters()

void arcs::aubo_scope::WaypointNode::setSharedMotionParameters | ( |  | ) |

Creates shared motion parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or a MoveP.

返回
  the motion parameters for the waypoint.

## ◆ setTimeMotionParameters()

void arcs::aubo_scope::WaypointNode::setTimeMotionParameters | ( | unsigned int | duration | ) |

Creates time motion parameters for a waypoint.

Can be used for waypoints under a MoveJ or a MoveL.

参数

  duration | the time the movement should take, not `null`.
  errorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid time value.

返回
  the time motion parameters for the waypoint.

## ◆ setToolMotionParameters()

void arcs::aubo_scope::WaypointNode::setToolMotionParameters | ( | double | tool_speed,
|  | double | tool_acceleration
| ) |  |

Creates tool motion parameters for a waypoint.

Can be used for waypoints under a MoveL or a MoveP.

参数

  tool_speed | the tool speed to be achieved, not `null`.
  tool_speedErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.
  tool_acceleration | the tool acceleration to be used for the movement, not `null`.
  tool_accelerationErrorHandler | error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

返回
  the tool motion parameters for the waypoint.

## ◆ setVariablePositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig | ( |  | ) |

Creates a variable position configuration with default values for a waypoint

Note that these default values may change between AuboScope versions.

返回
  the waypoint configuration.

## ◆ setVariablePositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig | ( | VariablePtr | variable | ) |

Creates a variable position configuration for a waypoint with a defined variable

参数

  variable | the variable position and orientation for the waypoint, not `null`.
  blendParameters | the blend parameters for the waypoint, not `null`.
  waypoint_motion_parameters | the motion parameters for the waypoint, not `null`.

返回
  the waypoint configuration.

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 waypoint_node.h 第 409 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 waypoint_node.h 第 411 行定义.

该类的文档由以下文件生成:

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