arcs::aubo_scope::WaypointModel类 参考

Provides methods that returns Waypoints from the current robot installation. 更多...

#include <waypoint_model.h>

Public 成员函数
	WaypointModel (WaypointModel &f)
	WaypointModel (WaypointModel &&f)
	~WaypointModel ()
std::vector< WaypointPtr >	getWaypoints ()
WaypointPtr	getByName (const std::string &name)
WaypointPtr	addWaypoint (const std::string &suggestedName, const std::vector< double > &pose)
	Add a Waypoint to the current AuboScope installation.
WaypointPtr	addWaypoint (const std::string &suggestedName, const std::vector< double > &pose, const std::vector< double > &joint, const std::vector< double > &offset)
void	removeWaypoint (const std::string &name)
	Remove a Waypoint added by this AuboCap from AuboScope.
void	renameWaypoint (const std::string &name, const std::string &newName)
	Rename the waypoint in the model by the name

Private 成员函数
	WaypointModel ()

Private 属性
void *	d_ { nullptr }

友元
class	DataSwitch

详细描述

Provides methods that returns Waypoints from the current robot installation.

在文件 waypoint_model.h 第 14 行定义.

构造及析构函数说明

WaypointModel() [1/3]

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &

f

)

引用了 WaypointModel().

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

函数调用图:

这是这个函数的调用关系图:

WaypointModel() [2/3]

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &&

f

)

引用了 WaypointModel().

函数调用图:

~WaypointModel()

arcs::aubo_scope::WaypointModel::~WaypointModel

(

)

WaypointModel() [3/3]

arcs::aubo_scope::WaypointModel::WaypointModel ( )

private

成员函数说明

addWaypoint() [1/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint	(	const std::string &	suggestedName,
		const std::vector< double > &	pose )

Add a Waypoint to the current AuboScope installation.

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

参数

idKey	The key to identify this Waypoint by. The key is for this AuboCap only, i.e. it only has to be unique for this AuboCap and not "globally" for other aubo_studio plugins.
suggestedName	Suggested name for the Waypoint. 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 Waypoint instance.
pose	The pose of the Waypoint with respect to the robot base
joint	The joint of the Waypoint with respect to the robot base
offset	The tcp of the Waypoint with respect to the robot base

返回

The Waypoint created and registered in AuboScope.

异常

WaypointAlreadyAddedException	If a Waypoint has previously been added the same idKey identifier. Use getWaypoint(String) to check if the Waypoint has already been added to the current installation. Use updateWaypoint(String, Pose) to update the Waypoint.
IllegalWaypointNameException	If the suggested name does not match required regex.

addWaypoint() [2/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint	(	const std::string &	suggestedName,
		const std::vector< double > &	pose,
		const std::vector< double > &	joint,
		const std::vector< double > &	offset )

getByName()

WaypointPtr arcs::aubo_scope::WaypointModel::getByName

(

const std::string &

name

)

getWaypoints()

std::vector< WaypointPtr > arcs::aubo_scope::WaypointModel::getWaypoints

(

)

返回

the geometric Waypoints of the current installation

参数

clazz	the sort of geometric Waypoint of interest, e.g. WaypointPoint.class, WaypointLine.class, WaypointPlane.class
<T>	The Waypoint type

返回

the collection of the corresponding Waypoints

removeWaypoint()

void arcs::aubo_scope::WaypointModel::removeWaypoint

(

const std::string &

name

)

Remove a Waypoint added by this AuboCap from AuboScope.

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

参数

idKey

The key used to add the Waypoint with.

异常

WaypointNotFoundException

If no Waypoint exists with the provided idKey.

renameWaypoint()

void arcs::aubo_scope::WaypointModel::renameWaypoint	(	const std::string &	name,
		const std::string &	newName )

Rename the waypoint in the model by the name

参数

name
newName

友元及相关符号说明

DataSwitch

friend class DataSwitch

friend

在文件 waypoint_model.h 第 85 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::WaypointModel::d_ { nullptr }

private

在文件 waypoint_model.h 第 87 行定义.

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该类的文档由以下文件生成:

• include/aubo_caps/domain/waypoint/waypoint_model.h