#include <set_payload_node.h>

Inheritance diagram for arcs::aubo_scope::SetPayloadNode:

Collaboration diagram for arcs::aubo_scope::SetPayloadNode:

Public Types
enum	ConfigType { PAYLOAD_SELECTION, CUSTOM_PARAMETERS }
	This base interface represents a configuration of the Set Payload program node (i.e. More...

Public Member Functions
	SetPayloadNode (SetPayloadNode &f)

	SetPayloadNode (SetPayloadNode &&f)

virtual	~SetPayloadNode ()

ConfigType	getConfigType ()
	This method returns the type of configuration. More...

void	setConfigType (ConfigType type)

double	getMass ()

void	setMass (double mass)

std::vector< double >	getCenterOfGravity ()
	Gets the payload's center of gravity (CoG), also referred to as center of mass. More...

void	setCenterOfGravity (const std::vector< double > &cog)

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
	SetPayloadNode ()

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 11 of file set_payload_node.h.

Member Enumeration Documentation

enum arcs::aubo_scope::SetPayloadNode::ConfigType

This base interface represents a configuration of the Set Payload program node (i.e.

a SetPayloadNode instance).

Enumerator

PAYLOAD_SELECTION

A payload (from the installation) is selected.

The config instance can be cast to SelectionPayloadNodeConfig.

CUSTOM_PARAMETERS

Custom payload parameters are specified.

The config instance can be cast to CustomParametersPayloadNodeConfig.

Definition at line 19 of file set_payload_node.h.

Constructor & Destructor Documentation

arcs::aubo_scope::SetPayloadNode::SetPayloadNode ( SetPayloadNode & f )

arcs::aubo_scope::SetPayloadNode::SetPayloadNode ( SetPayloadNode && f )

virtual arcs::aubo_scope::SetPayloadNode::~SetPayloadNode ( )

virtual

arcs::aubo_scope::SetPayloadNode::SetPayloadNode ( )

private

Member Function Documentation

std::vector<double> arcs::aubo_scope::SetPayloadNode::getCenterOfGravity ( )

Gets the payload's center of gravity (CoG), also referred to as center of mass.

It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.

Returns: The center of gravity (CoG) of the payload relative to the center of the tool output flange

ConfigType arcs::aubo_scope::SetPayloadNode::getConfigType ( )

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns: The type of this config.

double arcs::aubo_scope::SetPayloadNode::getMass ( )

Returns: The total mass of the payload

void arcs::aubo_scope::SetPayloadNode::setCenterOfGravity ( const std::vector< double > & cog )

void arcs::aubo_scope::SetPayloadNode::setConfigType ( ConfigType type )

void arcs::aubo_scope::SetPayloadNode::setMass ( double mass )

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 73 of file set_payload_node.h.

Member Data Documentation

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

private

Definition at line 75 of file set_payload_node.h.

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

include/aubo_caps/domain/program/nodes/builtin/set_payload_node.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes