AuboStudio SDK 0.6.3

Public 成员函数 | Private 成员函数 | Private 属性 | 友元 | 所有成员列表
arcs::aubo_scope::UserInteraction类 参考

This interface provides functionality for requesting input or actions from end users 更多...

`#include <user_interaction.h>`

## Public 成员函数
| UserInteraction (UserInteraction &f)
| UserInteraction (UserInteraction &&f)
virtual | ~UserInteraction ()
void | getUserDefinedRobotPosition (RobotPositionCallback callback)
void | getUserDefinedRobotPosition (const std::vector< double > &tcpOffset, RobotPositionCallback callback)
| 指定 tcpOfffset 更多...
void | getUserDefinedRobotPosition (const std::string &tcpOffset, RobotPositionCallback callback)
| 指定 tcpOfffset 更多...
void | getUserDefinedRobotPosition (const TCPPtr tcpOffset, RobotPositionCallback callback)
| 指定 tcpOfffset 更多...
KeyboardManagerPtr | getKeyboardManager ()
int | requestUserToMoveJoint (const std::vector< double > &q, RobotMovementCallback callback)
int | requestUserToMoveJoint (const std::string &q, RobotMovementCallback callback)
int | requestUserToMoveJoint (const std::vector< double > &pose, const std::vector< double > &q, RobotMovementCallback callback)
QT_DEPRECATED int | requestUserToMoveLine (const std::vector< double > &pose, RobotMovementCallback callback)
int | requestUserToMoveLine (const std::vector< double > &pose, const std::vector< double > &tcpOffset, RobotMovementCallback callback)
QPixmap * | getRobotThumb (const std::vector< double > &q, const std::vector< double > &pose)
| 获取机器人缩略图 更多...
void | setOperationLogDisplayName (QWidget *pbn, const std::string &name)
| 界面按钮是否启用操作记录 更多...
RenderInterfacePtr | getRenderInterface ()

## Private 成员函数
| UserInteraction ()

## Private 属性
void * | d_ { nullptr }

## 友元
class | DataSwitch

## 详细描述

This interface provides functionality for requesting input or actions from end users

在文件 user_interaction.h 第 26 行定义.

## 构造及析构函数说明

## ◆ UserInteraction() [1/3]

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

## ◆ UserInteraction() [2/3]

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

## ◆ ~UserInteraction()

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

## ◆ UserInteraction() [3/3]

arcs::aubo_scope::UserInteraction::UserInteraction | ( |  | ) |
| private

## 成员函数说明

## ◆ getKeyboardManager()

KeyboardManagerPtr arcs::aubo_scope::UserInteraction::getKeyboardManager | ( |  | ) |

This method provides a factory for creating keyboard inputs which are used to configure a virtual keyboard/keypad and to request it to be displayed for a Swing GUI component.

NOTE: This functionality is only relevant for AuboCap nodes with a Swing-based user interface (see ProgramNodeService, InstallationNodeService and ToolbarService).

返回
  factory providing access to keyboard inputs.

## ◆ getRenderInterface()

RenderInterfacePtr arcs::aubo_scope::UserInteraction::getRenderInterface | ( |  | ) |

返回
  This method provides robot model drawing objects.

## ◆ getRobotThumb()

QPixmap* arcs::aubo_scope::UserInteraction::getRobotThumb | ( | const std::vector< double > & | q,
|  | const std::vector< double > & | pose
| ) |  |

获取机器人缩略图

## ◆ getUserDefinedRobotPosition() [1/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition | ( | const std::string & | tcpOffset,
|  | RobotPositionCallback | callback
| ) |  |

指定 tcpOfffset

参数

  tcpOffset |
  callback |

## ◆ getUserDefinedRobotPosition() [2/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition | ( | const std::vector< double > & | tcpOffset,
|  | RobotPositionCallback | callback
| ) |  |

指定 tcpOfffset

参数

  tcpOffset |
  callback |

## ◆ getUserDefinedRobotPosition() [3/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition | ( | const TCPPtr | tcpOffset,
|  | RobotPositionCallback | callback
| ) |  |

指定 tcpOfffset

参数

  tcpOffset |
  callback |

## ◆ getUserDefinedRobotPosition() [4/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition | ( | RobotPositionCallback | callback | ) |

Request the end user to use the robot to define a robot position. Override the RobotPositionCallback2#onOk(PositionParameters) method to execute code once the end user is done. Optionally override the {} method to execute code if the end user cancels the operation.

This method is asynchronous, i.e. the method will return immediately. Only when the end user is done, either RobotPositionCallback2#onOk(PositionParameters) or {} will be called.

NOTE: This functionality should not be used in a toolbar contribution (see ToolbarService).

参数

  callback | the instance callbacks will be made to.

## ◆ requestUserToMoveJoint() [1/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint | ( | const std::string & | q,
|  | RobotMovementCallback | callback
| ) |  |

## ◆ requestUserToMoveJoint() [2/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint | ( | const std::vector< double > & | pose,
|  | const std::vector< double > & | q,
|  | RobotMovementCallback | callback
| ) |  |

参数

  pose | The target pose the robot TCP will move to.
  q | The reference joint Angle.
  callback | The instance which callbacks will be made to.

异常

  IllegalStateException | If the plugin screen is not active (visible).

## ◆ requestUserToMoveJoint() [3/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint | ( | const std::vector< double > & | q,
|  | RobotMovementCallback | callback
| ) |  |

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.

The Automove function will move the robot to the target joint positions linearly in joint space.

NOTE: This method does not take the currently active TCP offset into account, i.e. the Automove function will have the specified joint positions as target.

参数

  q | The target joint positions to move to.
  callback | The instance which callbacks will be made to.

异常

  IllegalStateException | If the plugin screen is not active (visible).

## ◆ requestUserToMoveLine() [1/2]

int arcs::aubo_scope::UserInteraction::requestUserToMoveLine | ( | const std::vector< double > & | pose,
|  | const std::vector< double > & | tcpOffset,
|  | RobotMovementCallback | callback
| ) |  |

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

参数

  pose | The target pose the robot TCP will move to.
  tcpOffset |
  callback | The instance which callbacks will be made to.

异常

  IllegalStateException | If the plugin screen is not active (visible).

## ◆ requestUserToMoveLine() [2/2]

QT_DEPRECATED int arcs::aubo_scope::UserInteraction::requestUserToMoveLine | ( | const std::vector< double > & | pose,
|  | RobotMovementCallback | callback
| ) |  |

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

参数

  pose | The target pose the robot TCP will move to.
  callback | The instance which callbacks will be made to.

异常

  IllegalStateException | If the plugin screen is not active (visible).

## ◆ setOperationLogDisplayName()

void arcs::aubo_scope::UserInteraction::setOperationLogDisplayName | ( | QWidget * | pbn,
|  | const std::string & | name
| ) |  |

界面按钮是否启用操作记录

## 友元及相关函数文档

## ◆ DataSwitch

friend class DataSwitch
| friend

在文件 user_interaction.h 第 202 行定义.

## 类成员变量说明

## ◆ d_

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

在文件 user_interaction.h 第 204 行定义.

该类的文档由以下文件生成:

- include/aubo_caps/domain/user_interface/user_interaction.h