Each of the individual grippers/zones available in a multi-gripper device supports all capabilities that has been registered, i.e. all the individual grippers have the exact same set of capabilities. This interface gives access to all registered capabilities, such as the width capability (see WidthCapability), speed capability (see SpeedCapability), etc. This enables dynamic adjustment of capability properties, including the value range and default values, exclusively per individual gripper (independently of the other grippers).
This interface is only relevant if the multi-gripper capability has been registered (using the method double, double,
double, Length.Unit)).
Each capability must be registered using the GripperCapabilities interface (when GripperContribution#configureGripper(GripperConfiguration,
GripperAPIProvider) is called) before they can be accessed using this interface.
NOTE: If an update of the properties of a capability needs to apply for all individual grippers, it is more convenient to perform the adjustment simultaneously for all grippers using the capability instance (e.g. WidthCapability) returned when the capability was registered (with the GripperCapabilities interface).
在文件 registered_cpabilities.h 第 49 行定义.
| virtual GripForceCapabilityPtr arcs::aubo_scope::RegisteredCapabilities::getGripForceCapability |
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pure virtual |
Access the grip force capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
This is only valid, if the force capability has been registered (using the method double, double, Force.Unit)).
- 返回
- The grip force capability for this individual gripper
- 异常
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| UnsupportedOperationException | if the gripper has not registered the force capability |
| virtual GripVacuumCapabilityPtr arcs::aubo_scope::RegisteredCapabilities::getGripVacuumCapability |
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pure virtual |
Access the grip vacuum capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
This is only valid, if the vacuum capability has been registered (using the method double, double, Pressure.Unit)).
- 返回
- The grip vacuum capability for this individual gripper
- 异常
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| UnsupportedOperationException | if the gripper has not registered the vacuum capability |
| virtual SpeedCapabilityPtr arcs::aubo_scope::RegisteredCapabilities::getSpeedCapability |
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pure virtual |
Access the speed capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
This is only valid, if the speed capability has been registered (using the method double,
double, double, Speed.Unit)).
- 返回
- The speed capability for this individual gripper
- 异常
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| UnsupportedOperationException | if the gripper has not registered the speed capability |
| virtual WidthCapabilityPtr arcs::aubo_scope::RegisteredCapabilities::getWidthCapability |
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pure virtual |
Access the width capability interface which allows for dynamic adjustments of the capability properties exclusively for this specific individual gripper (independently of the other grippers), including the value range and default value.
This is only valid, if the width capability has been registered (using the method double,
double, double, Length.Unit)).
- 返回
- The width capability for this individual gripper
- 异常
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| UnsupportedOperationException | if the gripper has not registered the width capability |
1.16.1