arcs::aubo_scope::WaypointModel Class Reference

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

#include <waypoint_model.h>

Public Member Functions
	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. More...
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. More...
void	renameWaypoint (const std::string &name, const std::string &newName)
	Rename the waypoint in the model by the name. More...

Private Member Functions
	WaypointModel ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

Provides methods that returns Waypoints from the current robot installation.

Definition at line 14 of file waypoint_model.h.

Constructor & Destructor Documentation

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &

f

)

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &&

f

)

arcs::aubo_scope::WaypointModel::~WaypointModel

(

)

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

private

Member Function Documentation

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.

Parameters

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 AuboCaps.
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

Returns

The Waypoint created and registered in AuboScope.

Exceptions

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.

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
	)

WaypointPtr arcs::aubo_scope::WaypointModel::getByName

(

const std::string &

name

)

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

(

)

Returns

the geometric Waypoints of the current installation

Parameters

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

Returns

the collection of the corresponding Waypoints

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.

Parameters

idKey

The key used to add the Waypoint with.

Exceptions

WaypointNotFoundException

If no Waypoint exists with the provided idKey.

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

Rename the waypoint in the model by the name.

Parameters

name
newName

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 85 of file waypoint_model.h.

Member Data Documentation

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

private

Definition at line 87 of file waypoint_model.h.

---

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

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