arcs::aubo_scope::GripForceCapability类 参考

\chinese 夹持力能力 此接口表示夹爪已注册的力度能力，支持使用用户可配置的力度进行夹取。 更多...

#include <grip_force_capability.h>

Public 成员函数
virtual	~GripForceCapability ()=0
virtual void	updateCapability (double minForce, double maxForce, double defaultGripForce)=0

详细描述

\chinese 夹持力能力 此接口表示夹爪已注册的力度能力，支持使用用户可配置的力度进行夹取。

通过此接口，可以在能力注册后调整力度的范围和默认值。这通常不适用于大多数夹爪， 但当范围取决于另一个自定义夹爪设置（可由用户配置）时，这可能是相关的。 \endchinese \english GripForceCapability 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). \endenglish

在文件 grip_force_capability.h 第 29 行定义.

构造及析构函数说明

~GripForceCapability()

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

pure virtual

成员函数说明

updateCapability()

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.

参数

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

异常

InvalidCapabilityRange

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

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该类的文档由以下文件生成:

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