#include <until_node.h>

类 arcs::aubo_scope::UntilNode 继承关系图:

arcs::aubo_scope::UntilNode 的协作图:

Public 类型
enum	ConfigType : short { EXPRESSION , TOOL_CONTACT , IO_INPUT , DISTANCE , REACHED_WAYPOINT , NONE_CONFIG_TYPE }
	The configuration type used to determine which type of configuration this instance is. 更多...
enum	CompareOperator : int { LESS_THAN , GREATER_THAN }
	Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold 更多...
enum	BlendParameterType { NO_BLEND , CUSTOM_BLEND }
	Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations). 更多...
enum	CustomDecelerationParameterType { Unknown , Angular , Cartesian }
enum	DecelerationParameterType { SHARED_DECELERATION , CUSTOM_DECELERATION }
	The deceleration parameter type used to determine which type of deceleration parameter this instance is. 更多...
enum	IOInputSelectionType { NONE_INPUT_SELECT , DIGITAL_INPUT , ANALOG_INPUT , FLOAT_REGISTER_INPUT }
	The type of the input selection. 更多...

Public 成员函数
	UntilNode (UntilNode &f)
	UntilNode (UntilNode &&f)
virtual	~UntilNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
void	setConfigType (ConfigType type)
BlendParameterType	getBlendParameterType ()
void	setBlendParameterType (BlendParameterType type)
void	setWaypointBlendParameter (double suggested_blend)
	Creates blend parameters for an Until node.
double	getWaypointBlendParameter ()
DecelerationParameterType	getDecelerationParameterType ()
void	setDecelerationParameterType (DecelerationParameterType type)
void	setDecelerationParameters (double deceleration)
double	getDecelerationParameters ()
CustomDecelerationParameterType	getCustomDecelerationParameterType ()
void	setCustomDecelerationParameterType (CustomDecelerationParameterType type)
double	getAngularDeceleration ()
	The rate at which to decelerate when the until condition is met.
void	setAngularDeceleration (double dec)
double	getCartesianDeceleration ()
	The rate at which to decelerate when the until condition is met.
void	setCartesianDeceleration (double dec)
void	setExpressionConfig (ExpressionPtr expression)
ExpressionPtr	getExpressionConfig ()
double	getDistance ()
	The distance the robot will travel.
void	setDistance (double dis)
IOInputSelectionType	getIOInputSelectionType ()
void	setIOInputSelectionType (IOInputSelectionType type)
void	setDigitalInputValueToProceed (bool value_to_proceed_until)
	Creates an I/O Input configuration for an Until node.
bool	getDigitalInputValueToProceed ()
void	setAnalogInputValueToProceed (double value)
	Creates an I/O Input configuration for an Until node.
double	getAnalogInputValueToProceed ()
void	setCompareOperator (CompareOperator compare_operator)
CompareOperator	getCompareOperator ()
Public 成员函数继承自 arcs::aubo_scope::ProgramNode
	ProgramNode (ProgramNode &f)
	ProgramNode (ProgramNode &&f)
virtual	~ProgramNode ()
ProgramNodeContributionPtr	getProgramNodeContribution ()
	\chinese 获取程序节点贡献。不推荐用户直接调用 ProgramNodeContribution::generateScript，应使用 ScriptWritter::writeChildren。

Private 成员函数
	UntilNode ()

Private 属性
void *	d_ { nullptr }

友元
class	DataSwitch

额外继承的成员函数
Protected 成员函数继承自 arcs::aubo_scope::ProgramNode
	ProgramNode ()

详细描述

\chinese

Until 节点是一种必须放在 Waypoint 节点或 Direction 节点下的程序节点类型。

当调用 TreeNode::addChild 和 #removeChild 时，Until 节点具有特殊行为。默认情况下 Until 节点是叶子节点，但可以向其添加动作。当添加动作时，它们会转换为允许子节点的分支节点。当最后一个子节点被移除时，它们又变回叶子节点。

\endchinese \english

The Until node is a type of program node that must be under a Waypoint node or Direction node.

It has special behavior when calling TreeNode#addChild(ProgramNode) and TreeNode#removeChild(TreeNode). Until nodes by default are leaf nodes, however they can have actions added to them. When that happens they are transformed into branch nodes that allow child nodes. When the last child is removed they become leaf nodes again. This is all automatically handled when TreeNode#addChild(ProgramNode) and TreeNode#removeChild(TreeNode) are called.

\endenglish

在文件 until_node.h 第 31 行定义.

成员枚举类型说明

◆ BlendParameterType

enum arcs::aubo_scope::UntilNode::BlendParameterType

Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations).

枚举值

NO_BLEND

The robot arm will stop without performing a blend.

CUSTOM_BLEND

Custom blend has been selected.

The blend instance can be cast to CustomBlendParameters.

在文件 until_node.h 第 111 行定义.

◆ CompareOperator

enum arcs::aubo_scope::UntilNode::CompareOperator : int

Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold

枚举值
LESS_THAN
GREATER_THAN

在文件 until_node.h 第 100 行定义.

◆ ConfigType

enum arcs::aubo_scope::UntilNode::ConfigType : short

The configuration type used to determine which type of configuration this instance is.

枚举值
EXPRESSION	An Until node where the until condition is true once the evaluation of an expression is true. The config instance can be cast to `ExpressionUntilNodeConfig`.
TOOL_CONTACT	An Until node where the until condition is true once an impact on the Tool is detected. This functionality is not supported by the API.
IO_INPUT	An Until node where the until condition is true once a given I/O reaches a certain value. The config can be cast to `IOInputUntilNodeConfig`.
DISTANCE	An Until node where the until condition is true once a given distance is reached. The config can be cast to `DistanceUntilNodeConfig`.
REACHED_WAYPOINT	An Until node where the until condition is true once its parent Waypoint is reached. The config can be cast to `ReachedWaypointUntilNodeConfig`.
NONE_CONFIG_TYPE	An undefined Until node with no type set yet.

在文件 until_node.h 第 38 行定义.

◆ CustomDecelerationParameterType

enum arcs::aubo_scope::UntilNode::CustomDecelerationParameterType

枚举值
Unknown	This deceleration was either created specifying values for both `AngularAcceleration` and `Acceleration` and/or is in use in an Until node that is not yet in the program tree.
Angular	This deceleration is currently used under a MoveJ node.
Cartesian	This deceleration is currently used under a MoveL or MoveP node.

在文件 until_node.h 第 129 行定义.

◆ DecelerationParameterType

enum arcs::aubo_scope::UntilNode::DecelerationParameterType

The deceleration parameter type used to determine which type of deceleration parameter this instance is.

枚举值

SHARED_DECELERATION

Shared deceleration has been selected.

The acceleration values from the parent Move node will be used as deceleration (absolute value).

CUSTOM_DECELERATION

Custom deceleration has been selected.

This instance can be cast to CustomDecelerationParameters.

在文件 until_node.h 第 154 行定义.

◆ IOInputSelectionType

enum arcs::aubo_scope::UntilNode::IOInputSelectionType

The type of the input selection.

枚举值
NONE_INPUT_SELECT	The node is not fully configured.
DIGITAL_INPUT	Digital input is selected. The config instance can be cast to `DigitalInputUntilNodeConfig`.
ANALOG_INPUT	Analog input is selected. The config instance can be cast to `AnalogInputUntilNodeConfig`.
FLOAT_REGISTER_INPUT	A float input register is selected. The config instance can be cast to `FloatRegisterInputUntilNodeConfig`.

在文件 until_node.h 第 175 行定义.

构造及析构函数说明

◆ UntilNode() [1/3]

arcs::aubo_scope::UntilNode::UntilNode ( UntilNode & f )

引用了 UntilNode().

被这些函数引用 UntilNode() , 以及 UntilNode().

函数调用图:

这是这个函数的调用关系图:

◆ UntilNode() [2/3]

arcs::aubo_scope::UntilNode::UntilNode ( UntilNode && f )

引用了 UntilNode().

函数调用图:

◆ ~UntilNode()

virtual arcs::aubo_scope::UntilNode::~UntilNode ( )

virtual

◆ UntilNode() [3/3]

arcs::aubo_scope::UntilNode::UntilNode ( )

private

成员函数说明

◆ getAnalogInputValueToProceed()

double arcs::aubo_scope::UntilNode::getAnalogInputValueToProceed ( )

◆ getAngularDeceleration()

double arcs::aubo_scope::UntilNode::getAngularDeceleration ( )

The rate at which to decelerate when the until condition is met.

返回: the specified angular deceleration of the until node (absolute value).

◆ getBlendParameterType()

BlendParameterType arcs::aubo_scope::UntilNode::getBlendParameterType ( )

◆ getCartesianDeceleration()

double arcs::aubo_scope::UntilNode::getCartesianDeceleration ( )

The rate at which to decelerate when the until condition is met.

返回: the specified Cartesian deceleration of the until node (absolute value).

◆ getCompareOperator()

CompareOperator arcs::aubo_scope::UntilNode::getCompareOperator ( )

◆ getConfigType()

ConfigType arcs::aubo_scope::UntilNode::getConfigType ( )

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

返回: the type of this config.

◆ getCustomDecelerationParameterType()

CustomDecelerationParameterType arcs::aubo_scope::UntilNode::getCustomDecelerationParameterType ( )

返回: the deceleration type. This can change depending on the Move node type above the Until node.

◆ getDecelerationParameters()

double arcs::aubo_scope::UntilNode::getDecelerationParameters ( )

◆ getDecelerationParameterType()

DecelerationParameterType arcs::aubo_scope::UntilNode::getDecelerationParameterType ( )

◆ getDigitalInputValueToProceed()

bool arcs::aubo_scope::UntilNode::getDigitalInputValueToProceed ( )

◆ getDistance()

double arcs::aubo_scope::UntilNode::getDistance ( )

The distance the robot will travel.

返回: The distance.

◆ getExpressionConfig()

ExpressionPtr arcs::aubo_scope::UntilNode::getExpressionConfig ( )

◆ getIOInputSelectionType()

IOInputSelectionType arcs::aubo_scope::UntilNode::getIOInputSelectionType ( )

◆ getWaypointBlendParameter()

double arcs::aubo_scope::UntilNode::getWaypointBlendParameter ( )

◆ setAnalogInputValueToProceed()

void arcs::aubo_scope::UntilNode::setAnalogInputValueToProceed ( double value )

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the the signal value of a given analog input goes past a specified electric Current threshold.

参数

input	the analog input whose signal value will determine whether the until condition is met, not `null`.
compareOperator	the operator to use when comparing the signal value of the selected analog input to the threshold value, not `null`. Available options are "less than" (<) or "greater than" (>).
currentThreshold	the electric Current threshold for the signal value of the analog input. Execution will proceed until the signal value of the selected analog input goes past this threshold.
errorHandler	the error handler for validation errors. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid current value.

返回: the Until node configuration.

异常

IllegalArgumentException if input is an output (does not support reading of values). See IO#isInput().

◆ setAngularDeceleration()

void arcs::aubo_scope::UntilNode::setAngularDeceleration ( double dec )

◆ setBlendParameterType()

void arcs::aubo_scope::UntilNode::setBlendParameterType ( BlendParameterType type )

◆ setCartesianDeceleration()

void arcs::aubo_scope::UntilNode::setCartesianDeceleration ( double dec )

◆ setCompareOperator()

void arcs::aubo_scope::UntilNode::setCompareOperator ( CompareOperator compare_operator )

◆ setConfigType()

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

◆ setCustomDecelerationParameterType()

void arcs::aubo_scope::UntilNode::setCustomDecelerationParameterType ( CustomDecelerationParameterType type )

◆ setDecelerationParameters()

void arcs::aubo_scope::UntilNode::setDecelerationParameters ( double deceleration )

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

参数

deceleration	the angular deceleration (the value for the Cartesian deceleration will be the default value that AuboScope uses), not `null`.
decelerationErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid angular deceleration value.

返回: the deceleration parameter for the Until node.

◆ setDecelerationParameterType()

void arcs::aubo_scope::UntilNode::setDecelerationParameterType ( DecelerationParameterType type )

◆ setDigitalInputValueToProceed()

void arcs::aubo_scope::UntilNode::setDigitalInputValueToProceed ( bool value_to_proceed_until )

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the signal value of a given digital input goes HIGH or LOW.

参数

input	the digital input whose signal value will determine whether the until condition is met, not `null`.
valueToProceedUntil	`true`, if the until condition is met when the input signal value goes HIGH, `false` otherwise (condition met when signal value is LOW).

返回: the Until node configuration.

异常

IllegalArgumentException if input is an output (does not support reading of values). See IO#isInput().

◆ setDistance()

void arcs::aubo_scope::UntilNode::setDistance ( double dis )

◆ setExpressionConfig()

void arcs::aubo_scope::UntilNode::setExpressionConfig ( ExpressionPtr expression )

Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter. The until condition for this configuration is true once the evaluation of the expression is true.

Note that this default value may change between AuboScope versions.

参数

expression the expression whose evaluation will determine whether the until condition is met.

返回: the Until node configuration.

◆ setIOInputSelectionType()

void arcs::aubo_scope::UntilNode::setIOInputSelectionType ( IOInputSelectionType type )

◆ setWaypointBlendParameter()

void arcs::aubo_scope::UntilNode::setWaypointBlendParameter ( double suggested_blend )

Creates blend parameters for an Until node.

Can be used in a Distance configuration type.

参数

suggestedBlend This blend value may be (automatically) corrected depending on the value of the distance parameter the Distance configuration.

返回: the blend parameters for the Until node.

◆ DataSwitch

friend class DataSwitch

friend

在文件 until_node.h 第 367 行定义.

引用了 DataSwitch.

被这些函数引用 DataSwitch.

类成员变量说明

◆ d_

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

private

在文件 until_node.h 第 369 行定义.

该类的文档由以下文件生成:

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

AuboStudio SDK 0.6.3

Public 类型

Public 成员函数

Private 成员函数

Private 属性

友元

额外继承的成员函数

详细描述

成员枚举类型说明

◆ BlendParameterType

◆ CompareOperator

◆ ConfigType

◆ CustomDecelerationParameterType

◆ DecelerationParameterType

◆ IOInputSelectionType

构造及析构函数说明

◆ UntilNode() [1/3]

◆ UntilNode() [2/3]

◆ ~UntilNode()

◆ UntilNode() [3/3]

成员函数说明

◆ getAnalogInputValueToProceed()

◆ getAngularDeceleration()

◆ getBlendParameterType()

◆ getCartesianDeceleration()

◆ getCompareOperator()

◆ getConfigType()

◆ getCustomDecelerationParameterType()

◆ getDecelerationParameters()

◆ getDecelerationParameterType()

◆ getDigitalInputValueToProceed()

◆ getDistance()

◆ getExpressionConfig()

◆ getIOInputSelectionType()

◆ getWaypointBlendParameter()

◆ setAnalogInputValueToProceed()

◆ setAngularDeceleration()

◆ setBlendParameterType()

◆ setCartesianDeceleration()

◆ setCompareOperator()

◆ setConfigType()

◆ setCustomDecelerationParameterType()

◆ setDecelerationParameters()

◆ setDecelerationParameterType()

◆ setDigitalInputValueToProceed()

◆ setDistance()

◆ setExpressionConfig()

◆ setIOInputSelectionType()

◆ setWaypointBlendParameter()

友元及相关符号说明

◆ DataSwitch

类成员变量说明

◆ d_