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::GripperNode类 参考

`#include <gripper_node.h>`

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

## Public 类型
enum | ConfigType { UNDEFINED , GRIP_ACTION , RELEASE_ACTION }
| The configuration type used to determine which type of configuration this instance is. 更多...
enum | SettingType { UNDEFINED0 , PAYLOAD_SELECTION , CUSTOM_PARAMETERS }
| The setting type used to determine which type of setting this instance is. 更多...

## Public 成员函数
| GripperNode (GripperNode &f)
| GripperNode (GripperNode &&f)
virtual | ~GripperNode ()
ConfigType | getConfigType ()
| This method returns the type of configuration. 更多...
void | setConfigType (ConfigType type)
GripperDevicePtr | getGripperDevice ()
SettingType | getSettingType ()
| This method returns the type of setting. 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
| GripperNode ()

## 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

This interface represents a program node which can be used for programming grip and release actions with a selected gripper device.

An instance of this interface can be built using the {} interface and is returned as a result when { GripperNodeFactory#createGripperNode(GripperDevice)} is called.

在文件 gripper_node.h 第 24 行定义.

## 成员枚举类型说明

## ◆ ConfigType

enum arcs::aubo_scope::GripperNode::ConfigType

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

枚举值
UNDEFINED | A Gripper action (i.e. grip or release) has not been selected The config instance can be cast to UndefinedActionConfig. This is only relevant if the Gripper node uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). The instance will provide access to the individual gripper selection.
GRIP_ACTION | The gripper is configured for a grip action The config instance can be cast to GripActionConfig.
RELEASE_ACTION | The gripper is configured for a release action The config instance can be cast to ReleaseActionConfig.

在文件 gripper_node.h 第 31 行定义.

## ◆ SettingType

enum arcs::aubo_scope::GripperNode::SettingType

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

枚举值
UNDEFINED0 | No selection has been made.
PAYLOAD_SELECTION | A payload (from the installation) is selected. The setting instance can be cast to PayloadSelection.
CUSTOM_PARAMETERS | Custom payload parameters are specified. The setting instance can be cast to CustomPayloadParameters.

在文件 gripper_node.h 第 90 行定义.

## 构造及析构函数说明

## ◆ GripperNode() [1/3]

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

## ◆ GripperNode() [2/3]

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

## ◆ ~GripperNode()

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

## ◆ GripperNode() [3/3]

arcs::aubo_scope::GripperNode::GripperNode | ( |  | ) |
| private

## 成员函数说明

## ◆ getConfigType()

ConfigType arcs::aubo_scope::GripperNode::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.

## ◆ getGripperDevice()

GripperDevicePtr arcs::aubo_scope::GripperNode::getGripperDevice | ( |  | ) |

返回
  The gripper device used by this Gripper node

## ◆ getSettingType()

SettingType arcs::aubo_scope::GripperNode::getSettingType | ( |  | ) |

This method returns the type of setting.

Cast this instance appropriately to have access to specific getters.

返回
  The type of this payload setting.

## ◆ setConfigType()

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

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 gripper_node.h 第 128 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 gripper_node.h 第 130 行定义.

该类的文档由以下文件生成:

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