arcs::aubo_scope::TcpContributionModel Class Reference

#include <tcp_contribution_model.h>

Public Member Functions
	TcpContributionModel (TcpContributionModel &f)
	TcpContributionModel (TcpContributionModel &&f)
virtual	~TcpContributionModel ()
TCPPtr	addTcp (const std::string &idKey, const std::string &suggested_name, const std::vector< double > &offset)
	Add a TCP to the current AuboScope installation. More...
TCPPtr	getTcp (const std::string &idKey)
	Returns the TCP previously added by this AuboCap using the same idKey. More...
void	updateTcp (const std::string &idKey, const std::vector< double > &newOffset)
	Update the offset of a TCP already added by this AuboCap. More...
void	removeTcp (const std::string &idKey)
	Remove a TCP added by this AuboCap from AuboScope. More...

Private Member Functions
	TcpContributionModel ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

This interface provides functionality for adding, updating and removing TCPs in AuboScope.

Note: This interface must only be used in an installation contribution/

Definition at line 19 of file tcp_contribution_model.h.

Constructor & Destructor Documentation

arcs::aubo_scope::TcpContributionModel::TcpContributionModel

(

TcpContributionModel &

f

)

arcs::aubo_scope::TcpContributionModel::TcpContributionModel

(

TcpContributionModel &&

f

)

virtual arcs::aubo_scope::TcpContributionModel::~TcpContributionModel ( )

virtual

arcs::aubo_scope::TcpContributionModel::TcpContributionModel ( )

private

Member Function Documentation

TCPPtr arcs::aubo_scope::TcpContributionModel::addTcp	(	const std::string &	idKey,
		const std::string &	suggested_name,
		const std::vector< double > &	offset
	)

Add a TCP to the current AuboScope installation.

This makes it selectable by the end user. The TCP is not modifiable by the end user.

Parameters

idKey	The key to identify this TCP by. The key is for this AuboCap only, i.e. it only has to be unique for this AuboCap and not "globally" for other AuboCaps.
suggested_name	Suggested name for the tcp/ Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned TCP instance.
offset	The offset of the TCP with respect to the tool output flange

Returns

The TCP created and registered in AuboScope.

Exceptions

TCPAlreadyAddedException	If called twice using the same idKey. Use getTCP(std::string) to check if the TCP has already been added to the current installation. Use updateTCP(std::string, Pose) to update the TCP if the offset of the TCP has changed.
IllegalTCPNameException	If the suggested name does not match required regex.
IllegalArgumentException	If the pose specified for the offset is not inside the valid range of a TCP offset as defined by AuboScope.

TCPPtr arcs::aubo_scope::TcpContributionModel::getTcp

(

const std::string &

idKey

)

Returns the TCP previously added by this AuboCap using the same idKey.

Use this to verify if the TCP is present in the current installation.

Parameters

idKey

The key to identify this TCP by.

Returns

The TCP previously added by this AuboCap. Returns null if no TCP exists in current installation.

void arcs::aubo_scope::TcpContributionModel::removeTcp

(

const std::string &

idKey

)

Remove a TCP added by this AuboCap from AuboScope.

Program nodes using the TCP will be become undefined because the TCP is no longer resolvable.

Parameters

idKey

The key used to add the TCP with.

Exceptions

TCPNotFoundException

If no TCP exists with the provided idKey.

void arcs::aubo_scope::TcpContributionModel::updateTcp	(	const std::string &	idKey,
		const std::vector< double > &	newOffset
	)

Update the offset of a TCP already added by this AuboCap.

Parameters

idKey	The key to identify the tcp/ A TCP must have been added prior to this method call using the same key.
newOffset	The new offset to set for the TCP with respect to the tool output flange.

Exceptions

TCPNotFoundException	If no TCP exists with the provided idKey.
IllegalArgumentException	If the pose specified for the offset is not inside the valid range of a TCP offset as defined by AuboScope.

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 90 of file tcp_contribution_model.h.

Member Data Documentation

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

private

Definition at line 92 of file tcp_contribution_model.h.

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

• include/aubo_caps/domain/tcp/tcp_contribution_model.h