This interface provides functionality for requesting input or actions from end users. More...

#include <user_interaction.h>

Public Member Functions
	UserInteraction (UserInteraction &f)

	UserInteraction (UserInteraction &&f)

virtual	~UserInteraction ()

void	getUserDefinedRobotPosition (RobotPositionCallback callback)

void	getUserDefinedRobotPosition (const std::vector< double > &tcpOffset, RobotPositionCallback callback)
	指定 tcpOfffset More...

void	getUserDefinedRobotPosition (const std::string &tcpOffset, RobotPositionCallback callback)
	指定 tcpOfffset More...

void	getUserDefinedRobotPosition (const TCPPtr tcpOffset, RobotPositionCallback callback)
	指定 tcpOfffset More...

KeyboardManagerPtr	getKeyboardManager ()

int	requestUserToMoveJoint (const std::vector< double > &q, RobotMovementCallback callback)

int	requestUserToMoveJoint (const std::string &q, RobotMovementCallback callback)

int	requestUserToMoveJoint (const std::vector< double > &pose, const std::vector< double > &q, RobotMovementCallback callback)

QT_DEPRECATED int	requestUserToMoveLine (const std::vector< double > &pose, RobotMovementCallback callback)

int	requestUserToMoveLine (const std::vector< double > &pose, const std::vector< double > &tcpOffset, RobotMovementCallback callback)

QPixmap *	getRobotThumb (const std::vector< double > &q, const std::vector< double > &pose)
	获取机器人缩略图 More...

void	setOperationLogDisplayName (QWidget *pbn, const std::string &name)
	界面按钮是否启用操作记录 More...

RenderInterfacePtr	getRenderInterface ()

Private Member Functions
	UserInteraction ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

This interface provides functionality for requesting input or actions from end users.

Definition at line 26 of file user_interaction.h.

Constructor & Destructor Documentation

arcs::aubo_scope::UserInteraction::UserInteraction ( UserInteraction & f )

arcs::aubo_scope::UserInteraction::UserInteraction ( UserInteraction && f )

virtual arcs::aubo_scope::UserInteraction::~UserInteraction ( )

virtual

arcs::aubo_scope::UserInteraction::UserInteraction ( )

private

Member Function Documentation

KeyboardManagerPtr arcs::aubo_scope::UserInteraction::getKeyboardManager ( )

This method provides a factory for creating keyboard inputs which are used to configure a virtual keyboard/keypad and to request it to be displayed for a Swing GUI component.

NOTE: This functionality is only relevant for AuboCap nodes with a Swing-based user interface (see ProgramNodeService, InstallationNodeService and ToolbarService).

Returns: factory providing access to keyboard inputs.

RenderInterfacePtr arcs::aubo_scope::UserInteraction::getRenderInterface ( )

Returns: This method provides robot model drawing objects.

QPixmap* arcs::aubo_scope::UserInteraction::getRobotThumb	(	const std::vector< double > &	q,
		const std::vector< double > &	pose
	)

获取机器人缩略图

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition ( RobotPositionCallback callback )

Request the end user to use the robot to define a robot position. Override the RobotPositionCallback2#onOk(PositionParameters) method to execute code once the end user is done. Optionally override the RobotPositionCallback2#onCancel() method to execute code if the end user cancels the operation.

This method is asynchronous, i.e. the method will return immediately. Only when the end user is done, either RobotPositionCallback2#onOk(PositionParameters) or RobotPositionCallback2#onCancel() will be called.

NOTE: This functionality should not be used in a toolbar contribution (see ToolbarService).

Parameters

callback the instance callbacks will be made to.

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const std::vector< double > &	tcpOffset,
		RobotPositionCallback	callback
	)

指定 tcpOfffset

Parameters

tcpOffset
callback

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const std::string &	tcpOffset,
		RobotPositionCallback	callback
	)

指定 tcpOfffset

Parameters

tcpOffset
callback

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const TCPPtr	tcpOffset,
		RobotPositionCallback	callback
	)

指定 tcpOfffset

Parameters

tcpOffset
callback

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::vector< double > &	q,
		RobotMovementCallback	callback
	)

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.

The Automove function will move the robot to the target joint positions linearly in joint space.

NOTE: This method does not take the currently active TCP offset into account, i.e. the Automove function will have the specified joint positions as target.

Parameters

q	The target joint positions to move to.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the URCap screen is not active (visible).

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::string &	q,
		RobotMovementCallback	callback
	)

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::vector< double > &	pose,
		const std::vector< double > &	q,
		RobotMovementCallback	callback
	)

Parameters

pose	The target pose the robot TCP will move to.
q	The reference joint Angle.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the URCap screen is not active (visible).

QT_DEPRECATED int arcs::aubo_scope::UserInteraction::requestUserToMoveLine	(	const std::vector< double > &	pose,
		RobotMovementCallback	callback
	)

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters

pose	The target pose the robot TCP will move to.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the URCap screen is not active (visible).

int arcs::aubo_scope::UserInteraction::requestUserToMoveLine	(	const std::vector< double > &	pose,
		const std::vector< double > &	tcpOffset,
		RobotMovementCallback	callback
	)

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters

pose	The target pose the robot TCP will move to.
tcpOffset
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the URCap screen is not active (visible).

void arcs::aubo_scope::UserInteraction::setOperationLogDisplayName	(	QWidget *	pbn,
		const std::string &	name
	)

界面按钮是否启用操作记录

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 202 of file user_interaction.h.

Member Data Documentation

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

private

Definition at line 204 of file user_interaction.h.

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

include/aubo_caps/domain/user_interface/user_interaction.h

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation