arcs::aubo_scope::SpeedCapability Class Reference

#include <speed_capability.h>

Public Member Functions
virtual	~SpeedCapability ()=default
virtual void	updateCapability (double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed)=0

Detailed Description

This interface represents a registered speed capability for a gripper which supports operating using a user configurable speed.

Through this interface, it is possible to adjust the range and default values for the speed after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

Definition at line 21 of file speed_capability.h.

Constructor & Destructor Documentation

virtual arcs::aubo_scope::SpeedCapability::~SpeedCapability ( )

virtualdefault

Member Function Documentation

virtual void arcs::aubo_scope::SpeedCapability::updateCapability ( double  minSpeed, double  maxSpeed, double  defaultGripSpeed, double  defaultReleaseSpeed  )

pure virtual

Update the range and default values for the speed supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

Parameters

minSpeed	minimum operating speed supported by the gripper
maxSpeed	maximum operating speed supported by the gripper
defaultGripSpeed	default value for the speed for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
defaultReleaseSpeed	default value for the speed for a release action. This value is used for, e.g. performing a "default" release action using the toolbar
unit	the unit for all specified values, not null

Exceptions

InvalidCapabilityRange	if minSpeed > maxSpeed
InvalidCapabilityRange	if defaultGripSpeed or defaultReleaseSpeed is outside the range defined by minSpeed and maxSpeed.

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

• include/aubo_caps/contribution/driver/gripper/capability/speed_capability.h