arcs::aubo_scope::MoveNode Class Reference

#include <move_node.h>

Inheritance diagram for arcs::aubo_scope::MoveNode:

Collaboration diagram for arcs::aubo_scope::MoveNode:

Public Types
enum	ConfigType : int { MOVE_J = 0, MOVE_L, MOVE_S }
enum	TcpSelectionType : int { USE_ACTIVE_TCP = 0, IGNORE_ACTIVE_TCP, MOVE_TCP }
enum	FeatureSelectionType : int { UNRESOLVED_FEATURE, FEATURE }

Public Member Functions
	MoveNode (MoveNode &f)
	MoveNode (MoveNode &&f)
virtual	~MoveNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration. More...
void	setConfigType (ConfigType type)
bool	getUseJoints ()
void	setUseJoints (bool use)
void	setJointSpeed (double joint_speed)
double	getJointSpeed ()
void	setJointAcceleration (double joint_acceleration)
double	getJointAcceleration ()
void	setTCPSelection (TCPPtr tcp_selection)
TCPPtr	getTCPSelection ()
void	setToolSpeed (double tool_speed)
double	getToolSpeed ()
void	setToolAcceleration (double tool_acceleration)
double	getToolAcceleration ()
void	setFeature (FeaturePtr feature)
void	setFeature (FeatureVariablePtr feature_variable)
FeaturePtr	getFeature ()
void	setBlend (double blend)
double	getBlend ()
void	setTcpSelectionType (TcpSelectionType type)
TcpSelectionType	getTcpSelectionType ()
Public Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode (ProgramNode &f)
	ProgramNode (ProgramNode &&f)
virtual	~ProgramNode ()
ProgramNodeContributionPtr	getProgramNodeContribution ()
	不推荐用户调用 ProgramNodeContribution::generateScript 使用 ScriptWritter::writeChildren More...

Private Member Functions
	MoveNode ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Additional Inherited Members
Protected Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode ()

Detailed Description

Definition at line 13 of file move_node.h.

Member Enumeration Documentation

enum arcs::aubo_scope::MoveNode::ConfigType : int

Enumerator
MOVE_J	Movement type is MoveJ. The config instance can be cast to MoveJMoveNodeConfig.
MOVE_L	Movement type is MoveL. The config instance can be cast to MoveLMoveNodeConfig.
MOVE_S

Definition at line 16 of file move_node.h.

enum arcs::aubo_scope::MoveNode::FeatureSelectionType : int

Enumerator
UNRESOLVED_FEATURE	The selected feature is no longer available (e.g. because the user has removed the feature in the Installation or the needed Installation is not currently loaded)
FEATURE	Feature is selected. The Selection instance can be cast to MoveNodeFeature

Definition at line 62 of file move_node.h.

enum arcs::aubo_scope::MoveNode::TcpSelectionType : int

Enumerator
USE_ACTIVE_TCP	Motions are adjusted to the currently active TCP. The TCP is determined during runtime of the program.
IGNORE_ACTIVE_TCP	No TCP is used and the motion under this Move command will be with respect to the tool output flange.
MOVE_TCP	A specific TCP is selected. The TCPSelection instance can be cast to MoveNodeTCP.

Definition at line 40 of file move_node.h.

Constructor & Destructor Documentation

arcs::aubo_scope::MoveNode::MoveNode

(

MoveNode &

f

)

arcs::aubo_scope::MoveNode::MoveNode

(

MoveNode &&

f

)

virtual arcs::aubo_scope::MoveNode::~MoveNode ( )

virtual

arcs::aubo_scope::MoveNode::MoveNode ( )

private

Member Function Documentation

double arcs::aubo_scope::MoveNode::getBlend

(

)

ConfigType arcs::aubo_scope::MoveNode::getConfigType

(

)

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns

the type of this config.

FeaturePtr arcs::aubo_scope::MoveNode::getFeature

(

)

double arcs::aubo_scope::MoveNode::getJointAcceleration

(

)

double arcs::aubo_scope::MoveNode::getJointSpeed

(

)

TCPPtr arcs::aubo_scope::MoveNode::getTCPSelection

(

)

TcpSelectionType arcs::aubo_scope::MoveNode::getTcpSelectionType

(

)

double arcs::aubo_scope::MoveNode::getToolAcceleration

(

)

double arcs::aubo_scope::MoveNode::getToolSpeed

(

)

bool arcs::aubo_scope::MoveNode::getUseJoints

(

)

void arcs::aubo_scope::MoveNode::setBlend

(

double

blend

)

Set the blend parameter for the MoveP configuration.

The blend parameter will be used between all waypoints in the movement of the robot arm, from the previous position through the waypoint under the Move node.

Parameters

blend	The shared blend used in the motion of this Move node, not null.
blendErrorHandler	Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid blend value.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setConfigType

(

ConfigType

type

)

void arcs::aubo_scope::MoveNode::setFeature

(

FeaturePtr

feature

)

Set feature for the MoveL configuration.

The feature will be used for the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

feature

The shared feature for this movement, not null.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setFeature

(

FeatureVariablePtr

feature_variable

)

void arcs::aubo_scope::MoveNode::setJointAcceleration

(

double

joint_acceleration

)

Set joint acceleration parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

joint_acceleration	The shared joint acceleration to be used, not null.
joint_accelerationErrorHandler	Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid joint acceleration value.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setJointSpeed

(

double

joint_speed

)

Set joint speed parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

joint_speed	The shared joint speed to be achieved, not null.
jointSpeedErrorHandler	Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid joint speed value.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setTCPSelection

(

TCPPtr

tcp_selection

)

Set the TCP selection for the MoveJ configuration.

The TCP will be set as the active TCP before the movement of the robot arm, from the previous position through the waypoints under the Move node, is performed.

See TCPSelection which can be created using the TCPSelectionFactory interface.

Parameters

tcp_selection

The TCP setting to be applied.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setTcpSelectionType

(

TcpSelectionType

type

)

void arcs::aubo_scope::MoveNode::setToolAcceleration

(

double

tool_acceleration

)

Set tool acceleration parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

tool_acceleration	The shared tool acceleration to be used, not null.
toolAccelerationErrorHandler	Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid tool acceleration value.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setToolSpeed

(

double

tool_speed

)

Set tool speed parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

tool_speed	The shared tool speed to be achieved, not null.
toolSpeedErrorHandler	Error handler for handling validation. If using ErrorHandler#AUTO_CORRECT, this will clamp the value to the nearest valid tool speed value.

Returns

This builder.

void arcs::aubo_scope::MoveNode::setUseJoints

(

bool

use

)

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 225 of file move_node.h.

Member Data Documentation

void* arcs::aubo_scope::MoveNode::d_ { nullptr }

private

Definition at line 227 of file move_node.h.

---

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

• include/aubo_caps/domain/program/nodes/builtin/move_node.h