#include <payload_contribution_model.h>

Public Member Functions
	PayloadContributionModel (PayloadContributionModel &f)

	PayloadContributionModel (PayloadContributionModel &&f)

	~PayloadContributionModel ()

PayloadPtr	addPayload (const std::string &id_key, const std::string &suggested_name, double mass, const std::vector< double > &center_of_gravity)

PayloadPtr	addPayload (const std::string &id_key, const std::string &suggested_name, double mass, const std::vector< double > &center_of_gravity, const std::vector< double > &inertiaMatrix)

PayloadPtr	getPayload (const std::string &id_key)
	Returns the payload previously added by this AuboCap using the same `idKey` identifier. More...

void	updatePayload (const std::string &id_key, double mass, const std::vector< double > &center_of_gravity)

void	updatePayload (const std::string id_key, double mass, const std::vector< double > &center_of_gravity, const std::vector< double > &inertia_matrix)
	Update the mass, center of gravity (CoG) and inertia matrix of an existing payload added by this AuboCap. More...

void	removePayload (const std::string &id_key)
	Remove a payload added by this AuboCap from AuboScope. More...

Private Member Functions
	PayloadContributionModel ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

Definition at line 11 of file payload_contribution_model.h.

Constructor & Destructor Documentation

arcs::aubo_scope::PayloadContributionModel::PayloadContributionModel ( PayloadContributionModel & f )

arcs::aubo_scope::PayloadContributionModel::PayloadContributionModel ( PayloadContributionModel && f )

arcs::aubo_scope::PayloadContributionModel::~PayloadContributionModel ( )

arcs::aubo_scope::PayloadContributionModel::PayloadContributionModel ( )

private

Member Function Documentation

PayloadPtr arcs::aubo_scope::PayloadContributionModel::addPayload	(	const std::string &	id_key,
		const std::string &	suggested_name,
		double	mass,
		const std::vector< double > &	center_of_gravity
	)

Add a payload to the current installation in AuboScope.

This makes the payload selectable by the end user as well as available to other AuboCap contributions (through the PayloadModel interface). The payload is not modifiable by the end user or other AuboCaps.

A default guess for the inertia matrix for the payload will be computed based on the specified payload mass and center of gravity. If data for the payload's inertia matrix is available, the method addPayload(String, String, Mass, Position, InertiaMatrix) can used instead (this might give better performance of the robot arm).

Note: The specified payload mass must be the total mass of the payload attached to the tool output flange of the robot.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with RobotModel#getRobotLimits() (an instance of the RobotModel interface can be retrieved through SystemAPI#getRobotModel()).

Parameters

idKey	The key to identify this payload by, not `null` nor an empty string. The key is for this AuboCap only, i.e. it only has to be unique for this AuboCap and not "globally" for other AuboCaps.
suggestedName	Suggested name for the payload, not `null` nor an empty string. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned payload instance.
mass	The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using SimpleValueFactory#createMass(double, Mass.Unit).
centerOfGravity	The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be `null`. Create it using the PositionFactory interface.

Returns: The payload created and registered in AuboScope.

Exceptions

PayloadAlreadyAddedException	If a payload has previously been added using the same `idKey` identifier. Use getPayload(String) to check if the payload has already been added to the current installation. Use Mass, Position) or Mass, Position, InertiaMatrix) to update the payload if the payload parameters have changed.
IllegalPayloadNameException	If the suggested name does not match required regex.
IllegalMassException	If the specified mass is not inside the valid range as defined by AuboScope.
IllegalCenterOfGravityException	If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.

PayloadPtr arcs::aubo_scope::PayloadContributionModel::addPayload	(	const std::string &	id_key,
		const std::string &	suggested_name,
		double	mass,
		const std::vector< double > &	center_of_gravity,
		const std::vector< double > &	inertiaMatrix
	)

Add a payload to the current installation in AuboScope.

This makes the payload selectable by the end user as well as available to other AuboCap contributions (through the PayloadModel interface). The payload is not modifiable by the end user or other AuboCaps.

Use the String, Mass, Position, InertiaMatrix) method instead if data for the payload's inertia matrix is not available.

Note: The specified payload mass must be the total mass of the payload attached to the tool output flange of the robot.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with RobotModel#getRobotLimits() (an instance of the RobotModel interface can be retrieved through SystemAPI#getRobotModel()).

Parameters

idKey	The key to identify this payload by, not `null` nor an empty string. The key is for this AuboCap only, i.e. it only has to be unique for this AuboCap and not "globally" for other AuboCaps.
suggestedName	Suggested name for the payload, not `null` nor an empty string. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned payload instance.
mass	The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using SimpleValueFactory#createMass(double, Mass.Unit).
centerOfGravity	The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be `null`. Create it using the PositionFactory interface.
inertiaMatrix	The inertia matrix of the payload, defined in a coordinate system with center at the payload's center of gravity and the axes aligned with the tool output flange coordinate system (axes). Cannot be `null`. Create it using double, double, double, double, double, MomentOfInertia.Unit).

Returns: The payload created and registered in AuboScope.

Exceptions

PayloadAlreadyAddedException	If a payload has previously been added using the same `idKey` identifier. Use getPayload(String) to check if the payload has already been added to the current installation. Use Mass, Position) or Mass, Position, InertiaMatrix) to update the payload if the payload parameters have changed.
IllegalPayloadNameException	If the suggested name does not match required regex.
IllegalMassException	If the specified mass is not inside the valid range as defined by AuboScope.
IllegalCenterOfGravityException	If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.
IllegalInertiaMatrixException	If any of the values of the specified inertia matrix are not inside the valid range as defined by AuboScope.

PayloadPtr arcs::aubo_scope::PayloadContributionModel::getPayload ( const std::string & id_key )

Returns the payload previously added by this AuboCap using the same idKey identifier.

Use this to verify if the payload is present in the current installation.

Parameters

idKey The key to identify this payload by, not null nor an empty string.

Returns: The payload previously added by this AuboCap. Returns null if no payload exists in current installation (with the specified idKey identifier).

void arcs::aubo_scope::PayloadContributionModel::removePayload ( const std::string & id_key )

Remove a payload added by this AuboCap from AuboScope.

Program nodes using the payload will be become undefined because the payload is no longer resolvable.

Parameters

idKey

The identifier key used to add the payload with, not

null

nor an empty string.

Exceptions

PayloadNotFoundException If no payload exists with the provided idKey identifier in the current installation.

void arcs::aubo_scope::PayloadContributionModel::updatePayload	(	const std::string &	id_key,
		double	mass,
		const std::vector< double > &	center_of_gravity
	)

Update the mass and center of gravity (CoG) of an existing payload added by this AuboCap.

Note: If an inertia matrix has been specified for the payload, calling this method will replace (overwrite) it with a computed default guess based the new specified payload mass and center of gravity. To avoid overwriting an existing inertia matrix (or to update an existing inertia matrix), instead use the method updatePayload(String, Mass, Position, InertiaMatrix).

Parameters

idKey	The key to identify the payload, not `null` nor an empty string. A payload must have been added using the same key prior to calling this method.
mass	The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using SimpleValueFactory#createMass(double, Mass.Unit).
centerOfGravity	The center of gravity of the payload, not *null . Create it using the PositionFactory interface.

Exceptions

PayloadNotFoundException	If no payload exists with the provided `idKey` identifier in the current installation.
IllegalMassException	If the specified mass is not inside the valid range as defined by AuboScope.
IllegalCenterOfGravityException	If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.

void arcs::aubo_scope::PayloadContributionModel::updatePayload	(	const std::string	id_key,
		double	mass,
		const std::vector< double > &	center_of_gravity,
		const std::vector< double > &	inertia_matrix
	)

Update the mass, center of gravity (CoG) and inertia matrix of an existing payload added by this AuboCap.

Parameters

idKey	The key to identify the payload, not `null` nor an empty string. A payload must have been added using the same key prior to calling this method.
mass	The total mass of the payload attached to the tool output flange of the robot, not `null`. Create it using SimpleValueFactory#createMass(double, Mass.Unit).
centerOfGravity	The center of gravity of the payload, not null . Create it using the PositionFactory interface.
inertiaMatrix	The inertia matrix of the payload, not `null`. Create it using double, double, double, double, double, MomentOfInertia.Unit)

Exceptions

PayloadNotFoundException	If no payload exists with the provided `idKey` identifier in the current installation.
IllegalMassException	If the specified mass is not inside the valid range as defined by AuboScope.
IllegalCenterOfGravityException	If any of the values of the specified center of gravity are not inside the valid range as defined by AuboScope.
IllegalInertiaMatrixException	If any of the values of the specified inertia matrix are not inside the valid range as defined by AuboScope.