外部轴API接口
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#include <axis_interface.h>
外部轴API接口
在文件 axis_interface.h 第 16 行定义.
arcs::common_interface::AxisInterface::AxisInterface |
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virtual arcs::common_interface::AxisInterface::~AxisInterface |
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int arcs::common_interface::AxisInterface::enableExtAxis |
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int arcs::common_interface::AxisInterface::followAnotherAxis |
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const std::string & |
target_name, |
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double |
phase, |
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double |
err |
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跟踪另一个外部轴的运动(禁止运动过程中使用)
- 参数
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target_name | 目标的外部轴名字 |
phase | 相位差 |
err | 跟踪运行的最大误差 |
- 返回
AxisModeType arcs::common_interface::AxisInterface::getAxisModeType |
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double arcs::common_interface::AxisInterface::getExtAxisAcceleration |
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double arcs::common_interface::AxisInterface::getExtAxisBusCurrent |
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double arcs::common_interface::AxisInterface::getExtAxisBusVoltage |
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double arcs::common_interface::AxisInterface::getExtAxisCurrent |
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double arcs::common_interface::AxisInterface::getExtAxisMaxAcceleration |
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double arcs::common_interface::AxisInterface::getExtAxisMaxPosition |
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double arcs::common_interface::AxisInterface::getExtAxisMaxVelocity |
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std::vector<double> arcs::common_interface::AxisInterface::getExtAxisMountingPose |
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std::vector<double> arcs::common_interface::AxisInterface::getExtAxisPose |
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获取相对于安装坐标系的位姿,外部轴可能为变位机或者导轨
- 返回
- 相对于安装坐标系的位姿
double arcs::common_interface::AxisInterface::getExtAxisPosition |
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double arcs::common_interface::AxisInterface::getExtAxisTemperature |
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double arcs::common_interface::AxisInterface::getExtAxisVelocity |
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double arcs::common_interface::AxisInterface::getExtMinPosition |
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int arcs::common_interface::AxisInterface::moveExtJoint |
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double |
pos, |
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double |
v, |
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double |
a, |
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double |
duration |
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int arcs::common_interface::AxisInterface::poweroffExtAxis |
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int arcs::common_interface::AxisInterface::poweronExtAxis |
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int arcs::common_interface::AxisInterface::setExtAxisMountingPose |
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const std::vector< double > & |
pose | ) |
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设置外部轴的安装位姿(相对于世界坐标系)
- 参数
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- 返回
int arcs::common_interface::AxisInterface::speedExtJoint |
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double |
v, |
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double |
a, |
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double |
duration |
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int arcs::common_interface::AxisInterface::stopExtJoint |
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double |
a | ) |
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int arcs::common_interface::AxisInterface::stopFollowAnotherAxis |
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stopFollowAnotherAxis(禁止运动过程中使用)
- 返回
void* arcs::common_interface::AxisInterface::d_ |
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protected |
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