\chinese 特征贡献模型 此接口提供在 AuboScope 中添加、更新和删除特征的功能。
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#include <feature_contribution_model.h>
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| | FeatureContributionModel (FeatureContributionModel &f) |
| | FeatureContributionModel (FeatureContributionModel &&f) |
| | ~FeatureContributionModel () |
| FeaturePtr | addFeature (const std::string &idKey, const std::string &suggestedName, const std::vector< double > &pose) |
| | \chinese 向当前AuboScope安装中添加一个特征。添加后终端用户可选择该特征，但不可修改。
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| FeaturePtr | getFeature (const std::string &idKey) |
| | \chinese 返回此前由此AuboCap使用相同idKey标识符添加的特征。用于验证特征是否存在。
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| void | updateFeature (const std::string &idKey, const std::vector< double > &newPose) |
| | \chinese 更新此AuboCap已添加特征的位姿。
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| void | renameFeature (const std::string &idKey, const std::string &newName) |
| void | removeFeature (const std::string &idKey) |
| | \chinese 从此AuboCap中移除已添加的特征。使用该特征的程序节点将变为未定义。
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\chinese 特征贡献模型 此接口提供在 AuboScope 中添加、更新和删除特征的功能。
注意：此接口只能在安装贡献中使用。 \endchinese \english FeatureContributionModel This interface provides functionality for adding, updating and removing features in AuboScope.
Note: This interface must only be used in an installation contribution. \endenglish
在文件 feature_contribution_model.h 第 28 行定义.
◆ FeatureContributionModel() [1/3]
| arcs::aubo_scope::FeatureContributionModel::FeatureContributionModel |
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FeatureContributionModel & | f | ) |
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◆ FeatureContributionModel() [2/3]
| arcs::aubo_scope::FeatureContributionModel::FeatureContributionModel |
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FeatureContributionModel && | f | ) |
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◆ ~FeatureContributionModel()
| arcs::aubo_scope::FeatureContributionModel::~FeatureContributionModel |
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◆ FeatureContributionModel() [3/3]
| arcs::aubo_scope::FeatureContributionModel::FeatureContributionModel |
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◆ addFeature()
| FeaturePtr arcs::aubo_scope::FeatureContributionModel::addFeature |
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const std::string & | idKey, |
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const std::string & | suggestedName, |
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const std::vector< double > & | pose ) |
\chinese 向当前AuboScope安装中添加一个特征。添加后终端用户可选择该特征，但不可修改。
- 参数
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| idKey | 用于标识此特征的键。该键仅对此AuboCap有效。 |
| suggestedName | 建议的特征名称。有效名称必须匹配正则表达式 [a-zA-Z][a-zA-Z0-9_]{0,14}。 |
| pose | 特征相对于机器人基座的位姿。 |
- 返回
- 在AuboScope中创建并注册的特征。
- 异常
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| FeatureAlreadyAddedException | 如果之前已用相同idKey添加过特征。 |
| IllegalFeatureNameException | 如果建议的名称不匹配所需正则表达式。 \endchinese \english Add a feature to the current AuboScope installation. This makes it selectable by the end user. The feature is not modifiable by the end user. |
- 参数
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| idKey | The key to identify this feature by. |
| suggestedName | Suggested name for the feature. |
| pose | The pose of the feature with respect to the robot base. |
- 返回
- The feature created and registered in AuboScope.
- 异常
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| FeatureAlreadyAddedException | If a feature has previously been added the same idKey identifier. |
| IllegalFeatureNameException | If the suggested name does not match required regex. \endenglish |
◆ getFeature()
| FeaturePtr arcs::aubo_scope::FeatureContributionModel::getFeature |
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const std::string & | idKey | ) |
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\chinese 返回此前由此AuboCap使用相同idKey标识符添加的特征。用于验证特征是否存在。
- 参数
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- 返回
- 此前添加的特征，如果不存在则返回
null。 \endchinese \english Returns the feature previously added by this AuboCap using the same idKey identifier. Use this to verify if the feature is present in the current installation.
- 参数
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| idKey | The key to identify this feature by. |
- 返回
- The feature previously added by this AuboCap. Returns
null if no feature exists in the current installation. \endenglish
◆ removeFeature()
| void arcs::aubo_scope::FeatureContributionModel::removeFeature |
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const std::string & | idKey | ) |
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\chinese 从此AuboCap中移除已添加的特征。使用该特征的程序节点将变为未定义。
- 参数
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- 异常
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| FeatureNotFoundException | 如果不存在对应idKey的特征。 \endchinese \english Remove a feature added by this AuboCap from AuboScope. Program nodes using the feature will be become undefined because the feature is no longer resolvable. |
- 参数
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| idKey | The key used to add the feature with. |
- 异常
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| FeatureNotFoundException | If no feature exists with the provided idKey. \endenglish |
◆ renameFeature()
| void arcs::aubo_scope::FeatureContributionModel::renameFeature |
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const std::string & | idKey, |
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const std::string & | newName ) |
◆ updateFeature()
| void arcs::aubo_scope::FeatureContributionModel::updateFeature |
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const std::string & | idKey, |
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const std::vector< double > & | newPose ) |
\chinese 更新此AuboCap已添加特征的位姿。
- 参数
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| idKey | 用于标识特征的键。 |
| newPose | 特征的新位姿。 |
- 异常
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| FeatureNotFoundException | 如果不存在对应idKey的特征。 \endchinese \english Update the pose of an existing feature added by this AuboCap. |
- 参数
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| idKey | The key to identify the feature. |
| newPose | The new pose to set for the feature. |
- 异常
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| FeatureNotFoundException | If no feature exists with the provided idKey. \endenglish |
◆ DataSwitch
◆ d_
| void* arcs::aubo_scope::FeatureContributionModel::d_ { nullptr } |
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private |
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