arcs::aubo_scope::GripVacuumCapability类 参考

#include <grip_vacuum_capability.h>

Public 成员函数
virtual	~GripVacuumCapability ()=0
virtual void	updateCapability (double minVacuum, double maxVacuum, double defaultGripVacuum)=0

详细描述

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).

在文件 grip_vacuum_capability.h 第 22 行定义.

构造及析构函数说明

~GripVacuumCapability()

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

pure virtual

成员函数说明

updateCapability()

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.

参数

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

异常

InvalidCapabilityRange

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

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该类的文档由以下文件生成:

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