arcs::aubo_scope::GripActionParameters Class Reference

#include <grip_action_parameters.h>

Public Member Functions
virtual	~GripActionParameters ()=default
virtual double	getForce ()=0
virtual double	getWidth ()=0
virtual double	getVacuum ()=0
virtual double	getSpeed ()=0
virtual bool	isGripDetectionEnabled ()=0

Detailed Description

This interface represents parameters for a gripping action defined/configured by the end user.

These parameters are used when generating script code for a gripping action (see GripActionParameters)).

Definition at line 21 of file grip_action_parameters.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::GripActionParameters::~GripActionParameters ( )

virtualdefault

Member Function Documentation

virtual double arcs::aubo_scope::GripActionParameters::getForce ( )

pure virtual

Get the selected force to be used the gripping action.

This is only valid, if the force capability has been registered (using the method double, double, Force.Unit)).

Returns

The force to use for the gripping action

Exceptions

UnsupportedOperationException

if the gripper has not registered the force capability

virtual double arcs::aubo_scope::GripActionParameters::getSpeed ( )

pure virtual

Get the selected speed to be used for the gripping action.

This is only valid, if the speed capability has been registered (using the method double, double, double, Speed.Unit)).

Returns

The speed to use for the gripping action

Exceptions

UnsupportedOperationException

if the gripper has not registered the speed capability

virtual double arcs::aubo_scope::GripActionParameters::getVacuum ( )

pure virtual

Get the selected vacuum level to be used for the gripping action.

This is only valid, if the vacuum capability has been registered (using the method double, double, Pressure.Unit)).

Returns

The vacuum level to use for the gripping action

Exceptions

UnsupportedOperationException

if the gripper has not registered the vacuum capability

virtual double arcs::aubo_scope::GripActionParameters::getWidth ( )

pure virtual

Get the selected width to be used for the gripping action.

This is only valid, if the width capability has been registered (using the method double, double, double, Length.Unit)).

Returns

The width to use for the gripping action

Exceptions

UnsupportedOperationException

if the gripper has not registered the width capability

virtual bool arcs::aubo_scope::GripActionParameters::isGripDetectionEnabled ( )

pure virtual

Use this method to determine whether the grip detection option in the Gripper program node is on or off.

Note that this method will report that grip detection is off, when script code is to be generated due to the user testing a grip configuration of a gripper program or operating the gripper using the toolbar.

This method should only be called, if the grip detected feedback capability has been registered (using GripperFeedbackCapabilities#registerGripDetectedCapability(ScriptCodeGenerator)).

The purpose of this method is to ensure that the appropriate script code for performing a grip action is generated when the end user has specified a new payload value. The user-defined payload value will be applied by AuboScope immediately after the generated grip action script code has finished executing. Depending on the enablement state of grip detection, the generated script should have the following properties:

• Grip detection off: The script code should not finish earlier than when it is appropriate to apply the new payload value (i.e. when the object has been gripped). This typically means that the script code should wait a time period corresponding to closing the gripper's "fingers" fully (if the gripper is vacuum operated then long enough to achieve some level of vacuum).
• Grip detection on: The payload will only be set if the grip detection was successful, i.e. it will be applied immediately after a grip was detected. This means that it is not necessary for the script code to wait (since the built-in detection timeout functionality will handle the waiting part).

Returns

true if the end user has enabled grip detection, and false if grip detection is disabled.

Exceptions

UnsupportedOperationException

if the gripper has not registered the grip detected feedback capability

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The documentation for this class was generated from the following file:

• include/aubo_caps/contribution/driver/gripper/grip_action_parameters.h