arcs::aubo_scope::MoveNode类 参考

#include <move_node.h>

类 arcs::aubo_scope::MoveNode 继承关系图:

arcs::aubo_scope::MoveNode 的协作图:

Public 类型
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 成员函数
	MoveNode (MoveNode &f)
	MoveNode (MoveNode &&f)
virtual	~MoveNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
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 成员函数 继承自 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

Private 成员函数
	MoveNode ()

Private 属性
void *	d_ { nullptr }

友元
class	DataSwitch

额外继承的成员函数
Protected 成员函数 继承自 arcs::aubo_scope::ProgramNode
	ProgramNode ()

详细描述

在文件 move_node.h 第 13 行定义.

成员枚举类型说明

ConfigType

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

枚举值
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

在文件 move_node.h 第 16 行定义.

FeatureSelectionType

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

枚举值
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

在文件 move_node.h 第 62 行定义.

TcpSelectionType

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

枚举值
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.

在文件 move_node.h 第 40 行定义.

构造及析构函数说明

MoveNode() [1/3]

arcs::aubo_scope::MoveNode::MoveNode

(

MoveNode &

f

)

引用了 MoveNode().

被这些函数引用 MoveNode() , 以及 MoveNode().

函数调用图:

这是这个函数的调用关系图:

MoveNode() [2/3]

arcs::aubo_scope::MoveNode::MoveNode

(

MoveNode &&

f

)

引用了 MoveNode().

函数调用图:

~MoveNode()

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

virtual

MoveNode() [3/3]

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

private

成员函数说明

getBlend()

double arcs::aubo_scope::MoveNode::getBlend

(

)

getConfigType()

ConfigType arcs::aubo_scope::MoveNode::getConfigType

(

)

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

返回

the type of this config.

getFeature()

FeaturePtr arcs::aubo_scope::MoveNode::getFeature

(

)

getJointAcceleration()

double arcs::aubo_scope::MoveNode::getJointAcceleration

(

)

getJointSpeed()

double arcs::aubo_scope::MoveNode::getJointSpeed

(

)

getTCPSelection()

TCPPtr arcs::aubo_scope::MoveNode::getTCPSelection

(

)

getTcpSelectionType()

TcpSelectionType arcs::aubo_scope::MoveNode::getTcpSelectionType

(

)

getToolAcceleration()

double arcs::aubo_scope::MoveNode::getToolAcceleration

(

)

getToolSpeed()

double arcs::aubo_scope::MoveNode::getToolSpeed

(

)

getUseJoints()

bool arcs::aubo_scope::MoveNode::getUseJoints

(

)

setBlend()

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.

参数

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.

返回

This builder.

setConfigType()

void arcs::aubo_scope::MoveNode::setConfigType

(

ConfigType

type

)

setFeature() [1/2]

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.

参数

feature

The shared feature for this movement, not null.

返回

This builder.

setFeature() [2/2]

void arcs::aubo_scope::MoveNode::setFeature

(

FeatureVariablePtr

feature_variable

)

setJointAcceleration()

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.

参数

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.

返回

This builder.

setJointSpeed()

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.

参数

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.

返回

This builder.

setTCPSelection()

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.

参数

tcp_selection

The TCP setting to be applied.

返回

This builder.

setTcpSelectionType()

void arcs::aubo_scope::MoveNode::setTcpSelectionType

(

TcpSelectionType

type

)

setToolAcceleration()

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.

参数

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.

返回

This builder.

setToolSpeed()

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.

参数

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.

返回

This builder.

setUseJoints()

void arcs::aubo_scope::MoveNode::setUseJoints

(

bool

use

)

友元及相关符号说明

DataSwitch

friend class DataSwitch

friend

在文件 move_node.h 第 225 行定义.

引用了 DataSwitch.

被这些函数引用 DataSwitch.

类成员变量说明

d_

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

private

在文件 move_node.h 第 227 行定义.

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该类的文档由以下文件生成:

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