arcs::aubo_scope::ReleaseActionParameters Class Reference

#include <release_action_parameters.h>

Public Member Functions
virtual	~ReleaseActionParameters ()=default
virtual double	getWidth ()=0
virtual double	getSpeed ()=0
virtual bool	isReleaseDetectionEnabled ()=0

Detailed Description

This interface represents parameters for a release action defined/configured by the end user.

These parameters are used when generating script code for a release action (see ReleaseActionParameters)).

Definition at line 21 of file release_action_parameters.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::ReleaseActionParameters::~ReleaseActionParameters ( )

virtualdefault

Member Function Documentation

virtual double arcs::aubo_scope::ReleaseActionParameters::getSpeed ( )

pure virtual

Get the selected speed to be used for releasing the gripper.

This is only valid, if the speed capability has been registered (using the method double, double, double, Speed.Unit)).

Returns

The speed to use for the release action

Exceptions

UnsupportedOperationException

if the gripper has not registered the speed capability

virtual double arcs::aubo_scope::ReleaseActionParameters::getWidth ( )

pure virtual

Get the selected width to be used for releasing the gripper.

This is only valid, if the width capability has been registered (using the method double, double, double, Length.Unit)).

Returns

The width to use for the release action

Exceptions

UnsupportedOperationException

if the gripper has not registered the width capability

virtual bool arcs::aubo_scope::ReleaseActionParameters::isReleaseDetectionEnabled ( )

pure virtual

Use this method to determine whether the release detection option in the Gripper program node is on or off.

Note that this method will report that release detection is off, when script code is to be generated due to the user testing a release configuration of a gripper program or operating the gripper using the toolbar.

This method should only be called, if the release detected feedback capability has been registered (using GripperFeedbackCapabilities#registerReleaseDetectedCapability(ScriptCodeGenerator)).

The purpose of this method is to ensure that the appropriate script code for performing a release action is generated when the end user has specified a new payload value. The user-defined payload value will be applied by AuboScope immediately after the generated release action script code has finished executing. Depending on the enablement state of release detection, the generated script should have the following properties:

• Release detection off: The script code should not finish earlier than when it is appropriate to apply the new payload value (i.e. when the object has been released). This typically means that the script code should wait a time period corresponding to opening the gripper's "fingers" fully (if the gripper is vacuum operated then long enough to achieve some level of vacuum).
• Release detection on: The payload will only be set if the release detection was successful, i.e. it will be applied immediately after a release was detected. This means that it is not necessary for the script code to wait (since the built-in detection timeout functionality will handle the waiting part).

Returns

true if the end user has enabled release detection, and false if release detection is disabled.

Exceptions

UnsupportedOperationException

if the gripper has not registered the release detected feedback capability

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

• include/aubo_caps/contribution/driver/gripper/release_action_parameters.h