arcs::aubo_scope::GripVacuumCapability Class Reference

#include <grip_vacuum_capability.h>

Public Member Functions
virtual	~GripVacuumCapability ()=0
virtual void	updateCapability (double minVacuum, double maxVacuum, double defaultGripVacuum)=0

Detailed Description

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

Through this interface, it is possible to adjust the range and default value for the vacuum level 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 22 of file grip_vacuum_capability.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::GripVacuumCapability::~GripVacuumCapability ( )

pure virtual

Member Function Documentation

virtual void arcs::aubo_scope::GripVacuumCapability::updateCapability ( double  minVacuum, double  maxVacuum, double  defaultGripVacuum  )

pure virtual

Update the range and default value for the vacuum level 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.

If the gripper works with absolute pressure, specify a positive range for the supported vacuum level. If the gripper works with relative pressure (vacuum), specify a negative range for the supported vacuum level.

Parameters

minVacuum	minimum vacuum level supported by the gripper
maxVacuum	maximum vacuum level supported by the gripper
defaultGripVacuum	default value for the vacuum level 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, not null

Exceptions

InvalidCapabilityRange

if minVacuum > maxVacuum or defaultGripVacuum is outside the range defined by minVacuum and maxVacuum.

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

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