\chinese 用户交互接口此接口提供向终端用户请求输入或操作的功能。 \endchinese \english UserInteraction This interface provides functionality for requesting input or actions from end users. 更多...

#include <user_interaction.h>

Public 成员函数
	UserInteraction (UserInteraction &f)
	UserInteraction (UserInteraction &&f)
virtual	~UserInteraction ()
void	getUserDefinedRobotPosition (RobotPositionCallback callback)
void	getUserDefinedRobotPosition (const std::vector< double > &tcpOffset, RobotPositionCallback callback)
	\chinese 指定 tcpOffset 获取用户定义的机器人位置
void	getUserDefinedRobotPosition (const std::string &tcpOffset, RobotPositionCallback callback)
	\chinese 指定 tcpOffset 字符串获取用户定义的机器人位置
void	getUserDefinedRobotPosition (const TCPPtr tcpOffset, RobotPositionCallback callback)
	\chinese 指定 TCP 对象获取用户定义的机器人位置
KeyboardManagerPtr	getKeyboardManager ()
int	requestUserToMoveJoint (const std::vector< double > &q, RobotMovementCallback callback)
int	requestUserToMoveJoint (const std::string &q, RobotMovementCallback callback)
	requestUserToMoveJoint
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)
	\chinese 获取机器人缩略图
void	setOperationLogDisplayName (QWidget *pbn, const std::string &name)
	\chinese
RenderInterfacePtr	getRenderInterface ()
PopupManagerPtr	getPopupManager ()

Private 成员函数
	UserInteraction ()

Private 属性
void *	d_ { nullptr }

友元
class	DataSwitch

详细描述

\chinese 用户交互接口此接口提供向终端用户请求输入或操作的功能。 \endchinese \english UserInteraction This interface provides functionality for requesting input or actions from end users.

\endenglish

在文件 user_interaction.h 第 35 行定义.

构造及析构函数说明

◆ UserInteraction() [1/3]

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

引用了 UserInteraction().

被这些函数引用 UserInteraction() , 以及 UserInteraction().

函数调用图:

这是这个函数的调用关系图:

◆ UserInteraction() [2/3]

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

引用了 UserInteraction().

函数调用图:

◆ ~UserInteraction()

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

virtual

◆ UserInteraction() [3/3]

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

private

成员函数说明

◆ getKeyboardManager()

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 Qt GUI component.

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

返回: factory providing access to keyboard inputs.

◆ getPopupManager()

PopupManagerPtr arcs::aubo_scope::UserInteraction::getPopupManager ( )

返回: This method provides popup manager.

◆ getRenderInterface()

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

返回: This method provides robot model drawing objects.

◆ getRobotThumb()

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

\chinese 获取机器人缩略图

参数

q	关节角度
pose	位姿

返回: 机器人缩略图 \endchinese \english Get robot thumbnail.

参数

q	joint angles
pose	pose

返回: robot thumbnail \endenglish

◆ getUserDefinedRobotPosition() [1/4]

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

\chinese 指定 tcpOffset 字符串获取用户定义的机器人位置

参数

tcpOffset	TCP 偏移量名称
callback	回调函数 \endchinese \english Request the end user to define a robot position with specified tcpOffset string.
tcpOffset
callback	\endenglish

◆ getUserDefinedRobotPosition() [2/4]

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

\chinese 指定 tcpOffset 获取用户定义的机器人位置

参数

tcpOffset	TCP 偏移量
callback	回调函数 \endchinese \english Request the end user to define a robot position with specified tcpOffset.
tcpOffset
callback	\endenglish

◆ getUserDefinedRobotPosition() [3/4]

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

\chinese 指定 TCP 对象获取用户定义的机器人位置

参数

tcpOffset	TCP 对象
callback	回调函数 \endchinese \english Request the end user to define a robot position with specified TCP object.
tcpOffset
callback	\endenglish

◆ getUserDefinedRobotPosition() [4/4]

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).

参数

callback the instance callbacks will be made to.

◆ requestUserToMoveJoint() [1/3]

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

requestUserToMoveJoint

参数

q
callback

返回

◆ requestUserToMoveJoint() [2/3]

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

参数

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

异常

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

◆ requestUserToMoveJoint() [3/3]

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.

参数

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

异常

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

◆ requestUserToMoveLine() [1/2]

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.

参数

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

异常

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

◆ requestUserToMoveLine() [2/2]

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.

参数

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

异常

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

◆ setOperationLogDisplayName()

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

\chinese

setOperationLogDisplayName 设置操作日志显示名称

参数

pbn	界面按钮
name	显示名称 \endchinese \english

setOperationLogDisplayName

参数

pbn
name	\endenglish

◆ DataSwitch

friend class DataSwitch

friend

在文件 user_interaction.h 第 283 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::UserInteraction::d_ { nullptr }

private

在文件 user_interaction.h 第 285 行定义.

该类的文档由以下文件生成:

include/aubo_caps/domain/user_interface/user_interaction.h

AuboStudio SDK 0.6.3

Public 成员函数

Private 成员函数

Private 属性

友元

详细描述

构造及析构函数说明

◆ UserInteraction() [1/3]

◆ UserInteraction() [2/3]

◆ ~UserInteraction()

◆ UserInteraction() [3/3]

成员函数说明

◆ getKeyboardManager()

◆ getPopupManager()

◆ getRenderInterface()

◆ getRobotThumb()

◆ getUserDefinedRobotPosition() [1/4]

◆ getUserDefinedRobotPosition() [2/4]

◆ getUserDefinedRobotPosition() [3/4]

◆ getUserDefinedRobotPosition() [4/4]

◆ requestUserToMoveJoint() [1/3]

◆ requestUserToMoveJoint() [2/3]

◆ requestUserToMoveJoint() [3/3]

◆ requestUserToMoveLine() [1/2]

◆ requestUserToMoveLine() [2/2]

◆ setOperationLogDisplayName()

友元及相关符号说明

◆ DataSwitch

类成员变量说明

◆ d_