arcs::common_interface::GripperInterface类 参考

#include <gripper_interface.h>

Public 成员函数
	GripperInterface ()
virtual	~GripperInterface ()
std::vector< std::string >	gripperGetSupportedModels ()
	获取支持的所有夹爪
ResultWithErrno2	gripperScanDevices (const std::string &model, const std::string &device_name)
	扫描该型号下的所有设备
std::vector< std::string >	gripperGetNames ()
	获取已添加的夹爪
int	gripperAdd (const std::string &name, const std::string &model)
	添加夹爪
int	gripperDelete (const std::string &name)
	删除夹爪
int	gripperRename (const std::string &name, const std::string &new_name)
	修改夹爪名
int	gripperConnect (const std::string &name, const std::string &device_name)
	夹爪连接
int	gripperDisconnect (const std::string &name)
	夹爪断开连接
bool	gripperIsConnected (const std::string &name)
	夹爪是否连接
int	gripperSetWorkMode (const std::string &name, int work_mode)
	设置工作模式
int	gripperGetWorkMode (const std::string &name)
	获取工作模式
int	gripperSetMountPose (const std::string &name, const std::vector< double > &pose, bool enable_collision)
	设置夹爪安装偏移
std::vector< double >	gripperGetMountPose (const std::string &name)
	获取夹爪安装偏移
int	gripperEnable (const std::string &name, bool enable)
	使能夹爪
bool	gripperIsEnabled (const std::string &name)
	夹爪是否使能
int	gripperSetPosition (const std::string &name, const double position)
	设置运动参数
int	gripperSetVelocity (const std::string &name, const double velocity_percent)
int	gripperSetForce (const std::string &name, const double force)
int	gripperSetAngle (const std::string &name, const double angle)
int	gripperSetRVelocity (const std::string &name, const double r_velocity_percent)
int	gripperSetTorque (const std::string &name, const double torque_percent)
int	gripperMove (const std::string &name)
	开始运动
int	gripperStop (const std::string &name)
	停止运动
std::string	gripperGetHardwareVersion (const std::string &name)
	获取夹爪状态
std::string	gripperGetSoftwareVersion (const std::string &name)
double	gripperGetPosition (const std::string &name)
double	gripperGetVelocity (const std::string &name)
double	gripperGetForce (const std::string &name)
double	gripperGetAngle (const std::string &name)
double	gripperGetRVelocity (const std::string &name)
double	gripperGetTorque (const std::string &name)
bool	gripperGetObjectDetection (const std::string &name)
bool	gripperGetMotionState (const std::string &name)
double	gripperGetVoltage (const std::string &name)
double	gripperGetTemperature (const std::string &name)
int	gripperResetSlaveId (const std::string &name, const int slave_id)
	重置modbus从站ID
int	gripperGetStatusCode (const std::string &name)
	获取夹爪状态

Protected 属性
void *	d_

详细描述

在文件 gripper_interface.h 第 17 行定义.

构造及析构函数说明

GripperInterface()

arcs::common_interface::GripperInterface::GripperInterface

(

)

~GripperInterface()

virtual arcs::common_interface::GripperInterface::~GripperInterface ( )

virtual

成员函数说明

gripperGetAngle()

double arcs::common_interface::GripperInterface::gripperGetAngle

(

const std::string &

name

)

gripperGetForce()

double arcs::common_interface::GripperInterface::gripperGetForce

(

const std::string &

name

)

gripperGetMotionState()

bool arcs::common_interface::GripperInterface::gripperGetMotionState

(

const std::string &

name

)

gripperGetMountPose()

std::vector< double > arcs::common_interface::GripperInterface::gripperGetMountPose

(

const std::string &

name

)

获取夹爪安装偏移

参数

name

返回

返回夹爪安装偏移

gripperGetObjectDetection()

bool arcs::common_interface::GripperInterface::gripperGetObjectDetection

(

const std::string &

name

)

gripperGetPosition()

double arcs::common_interface::GripperInterface::gripperGetPosition

(

const std::string &

name

)

gripperGetRVelocity()

double arcs::common_interface::GripperInterface::gripperGetRVelocity

(

const std::string &

name

)

gripperGetSoftwareVersion()

std::string arcs::common_interface::GripperInterface::gripperGetSoftwareVersion

(

const std::string &

name

)

gripperGetTemperature()

double arcs::common_interface::GripperInterface::gripperGetTemperature

(

const std::string &

name

)

gripperGetTorque()

double arcs::common_interface::GripperInterface::gripperGetTorque

(

const std::string &

name

)

gripperGetVelocity()

double arcs::common_interface::GripperInterface::gripperGetVelocity

(

const std::string &

name

)

gripperGetVoltage()

double arcs::common_interface::GripperInterface::gripperGetVoltage

(

const std::string &

name

)

gripperSetAngle()

int arcs::common_interface::GripperInterface::gripperSetAngle	(	const std::string &	name,
		const double	angle )

gripperSetForce()

int arcs::common_interface::GripperInterface::gripperSetForce	(	const std::string &	name,
		const double	force )

gripperSetRVelocity()

int arcs::common_interface::GripperInterface::gripperSetRVelocity	(	const std::string &	name,
		const double	r_velocity_percent )

gripperSetTorque()

int arcs::common_interface::GripperInterface::gripperSetTorque	(	const std::string &	name,
		const double	torque_percent )

gripperSetVelocity()

int arcs::common_interface::GripperInterface::gripperSetVelocity	(	const std::string &	name,
		const double	velocity_percent )

类成员变量说明

d_

void* arcs::common_interface::GripperInterface::d_

protected

在文件 gripper_interface.h 第 285 行定义.

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该类的文档由以下文件生成:

• include/aubo/gripper_interface.h