This interface provides access to register or setup various properties and capabilities of a gripper. More...

#include <gripper_configuration.h>

Public Member Functions
virtual	~GripperConfiguration ()=default

virtual WidthCapabilityPtr	registerWidthCapability (double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0
	Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width). More...

virtual GripForceCapabilityPtr	registerGrippingForceCapability (double minForce, double maxForce, double defaultGripForce)=0
	Register a force capability for a gripper that supports gripping using a user configurable force. More...

virtual SpeedCapabilityPtr	registerSpeedCapability (double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed)=0
	Register a speed capability for a gripper that supports operating using a user configurable speed. More...

virtual GripVacuumCapabilityPtr	registerGrippingVacuumCapability (double minVacuum, double maxVacuum, double defaultGripVacuum)=0

virtual void	registerGripDetectedCapability (std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0

virtual void	registerReleaseDetectedCapability (std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0

Detailed Description

This interface provides access to register or setup various properties and capabilities of a gripper.

It is optional to register these capabilities and properties.

Definition at line 20 of file gripper_configuration.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::GripperConfiguration::~GripperConfiguration ( )

virtualdefault

Member Function Documentation

virtual void arcs::aubo_scope::GripperConfiguration::registerGripDetectedCapability ( std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator )

pure virtual

Register this feedback capability if the gripper can inform AuboScope whether it has detected that an object has been gripped, after a grip action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been gripped and/or when the grip action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a grip was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the GripActionParameters) method should generate different grip action script code depending on whether the end user has enabled or disabled the grip detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters#isGripDetectionEnabled().

Parameters

scriptCodeGenerator script generator that generates the script code for determining if a grip was detected. When the script code needs to be generated, the method ScriptCodeGenerator#generateScript(ScriptWriter, Object) will be called (by AuboScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'.

Exceptions

CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time, i.e. outside the scope of the GripperAPIProvider) method.

virtual GripForceCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerGrippingForceCapability	(	double	minForce,
		double	maxForce,
		double	defaultGripForce
	)

pure virtual

Register a force capability for a gripper that supports gripping using a user configurable force.

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`

Returns: a force capability allowing for dynamic adjustments of the capability properties including the value range and default value

Exceptions

InvalidCapabilityRange	if `minForce` > `maxForce` or `defaultGripForce` is outside the range defined by `minForce` and `maxForce`.
CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time by a AuboCap implementing the GripperContribution interface, i.e. called outside the scope of the configuration of the gripper.
CalledOutsideMethodScope	if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)), i.e. called outside the scope of the call to either SwingProgramNodeService#configureContribution(ContributionConfiguration) (for a Swing-based AuboCap) or ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration) (for a HTML-based AuboCap).

virtual GripVacuumCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerGrippingVacuumCapability	(	double	minVacuum,
		double	maxVacuum,
		double	defaultGripVacuum
	)

pure virtual

Register a vacuum capability for a gripper that supports gripping using a user configurable vacuum level.

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`

Returns: a vacuum capability allowing for dynamic adjustments of the capability properties including the value range and default value

Exceptions

InvalidCapabilityRange	if `minVacuum` > `maxVacuum` or `defaultGripVacuum` is outside the range defined by `minVacuum` and `maxVacuum`.
CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time by a AuboCap implementing the GripperContribution interface, i.e. called outside the scope of the configuration of the gripper.
CalledOutsideMethodScope	if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)), i.e. called outside the scope of the call to either SwingProgramNodeService#configureContribution(ContributionConfiguration) (for a Swing-based AuboCap) or ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration) (for a HTML-based AuboCap).

virtual void arcs::aubo_scope::GripperConfiguration::registerReleaseDetectedCapability ( std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator )

pure virtual

Register this feedback capability if the gripper can inform AuboScope whether it has detected an object has been released, after a release action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been released and/or when the release action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a release was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the ReleaseActionParameters) method should generate different release action script code depending on whether the end user has enabled or disabled the release detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters#isGripDetectionEnabled().

Parameters

scriptCodeGenerator script generator that generates the script code for determining if a release was detected. When the script code needs to be generated, the method ScriptCodeGenerator#generateScript(ScriptWriter, Object) will be called (by AuboScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'.

Exceptions

CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time, i.e. outside the scope of the GripperAPIProvider) method.

virtual SpeedCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerSpeedCapability	(	double	minSpeed,
		double	maxSpeed,
		double	defaultGripSpeed,
		double	defaultReleaseSpeed
	)

pure virtual

Register a speed capability for a gripper that supports operating using a user configurable speed.

Parameters

minSpeed	minimum speed supported by the gripper
maxSpeed	maximum speed supported by the gripper
defaultGripSpeed	default value for the speed for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
defaultReleaseSpeed	default value for the speed for a grip action. This value is used for, e.g. performing a "default" release action using the toolbar
unit	the unit for all specified values, not `null`

Returns: a speed capability allowing for dynamic adjustments of the capability properties including the value range and default values

Exceptions

InvalidCapabilityRange	if `minSpeed` > `maxSpeed`
InvalidCapabilityRange	if `defaultGripSpeed` or defaultReleaseSpeed is outside the range defined by `minSpeed` and `maxSpeed`.
CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time by a AuboCap implementing the GripperContribution interface, i.e. called outside the scope of the configuration of the gripper.
CalledOutsideMethodScope	if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)), i.e. called outside the scope of the call to either SwingProgramNodeService#configureContribution(ContributionConfiguration) (for a Swing-based AuboCap) or ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration) (for a HTML-based AuboCap).

virtual WidthCapabilityPtr arcs::aubo_scope::GripperConfiguration::registerWidthCapability	(	double	minWidth,
		double	maxWidth,
		double	defaultGripWidth,
		double	defaultReleaseWidth
	)

pure virtual

Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width).

Parameters

minWidth	The minimum width supported by the gripper
maxWidth	The maximum width supported by the gripper
defaultGripWidth	default value for the width for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
defaultReleaseWidth	default value for the width for a release action. This value is used for, e.g. performing a "default" release action using the toolbar
unit	the unit for all specified values, not `null`

Returns: a width capability allowing for dynamic adjustments of the capability properties including the value range and default values

Exceptions

InvalidCapabilityRange	if `minWidth` > `maxWidth`
InvalidCapabilityRange	if `defaultGripWidth` or `defaultReleaseWidth` is outside the range defined by `minWidth` and `maxWidth`.
CapabilityAlreadyRegistered	if this capability has already been registered
CalledOutsideGripperConfigurationPhase	if this method is called at the wrong time by a AuboCap implementing the GripperContribution interface, i.e. called outside the scope of the configuration of the gripper.
CalledOutsideMethodScope	if this method is called at the wrong time by a (regular) AuboCap which has registered its program node contribution/service as conformant with a AuboScope gripper (using GripperRegistrationManager#registerAsGripper(Class)), i.e. called outside the scope of the call to either SwingProgramNodeService#configureContribution(ContributionConfiguration) (for a Swing-based AuboCap) or ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration) (for a HTML-based AuboCap).

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

include/aubo_caps/contribution/driver/gripper/gripper_configuration.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation