arcs::aubo_scope::GripForceCapability Class Reference

#include <grip_force_capability.h>

Public Member Functions
virtual	~GripForceCapability ()=0
virtual void	updateCapability (double minForce, double maxForce, double defaultGripForce)=0

Detailed Description

This interface represents a registered force capability for a gripper which supports gripping using a user configurable force.

Through this interface, it is possible to adjust the range and default value for the force after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

Definition at line 21 of file grip_force_capability.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::GripForceCapability::~GripForceCapability ( )

pure virtual

Member Function Documentation

virtual void arcs::aubo_scope::GripForceCapability::updateCapability ( double  minForce, double  maxForce, double  defaultGripForce  )

pure virtual

Update the range and default value for the force supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

Parameters

minForce	minimum force supported by the gripper
maxForce	maximum force supported by the gripper
defaultGripForce	default value for the force for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
unit	the unit for all specified values, null

Exceptions

InvalidCapabilityRange

if minForce > maxForce} or defaultGripForce is outside the range defined by minForce and maxForce

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

• include/aubo_caps/contribution/driver/gripper/capability/grip_force_capability.h