arcs::aubo_scope::SpeedCapability类 参考

\chinese 速度能力 此接口表示夹爪已注册的速度能力，支持使用用户可配置的速度进行操作。 更多...

#include <speed_capability.h>

Public 成员函数
virtual	~SpeedCapability ()=default
virtual void	updateCapability (double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed)=0

详细描述

\chinese 速度能力 此接口表示夹爪已注册的速度能力，支持使用用户可配置的速度进行操作。

通过此接口，可以在能力注册后调整速度的范围和默认值。这通常不适用于大多数夹爪， 但当范围取决于另一个自定义夹爪设置（可由用户配置）时，这可能是相关的。 \endchinese \english SpeedCapability 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). \endenglish

在文件 speed_capability.h 第 29 行定义.

构造及析构函数说明

~SpeedCapability()

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

virtualdefault

成员函数说明

updateCapability()

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.

参数

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

异常

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

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该类的文档由以下文件生成:

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