#include <waypoint_node.h>

类 arcs::aubo_scope::WaypointNode 继承关系图:

arcs::aubo_scope::WaypointNode 的协作图:

Public 类型
enum	ConfigType : int { FIXED_POSITION = 0 , VARIABLE_POSITION , RELATIVE_POSITION }
	The configuration type used to determine which type of configuration this instance is. 更多...
enum	BlendType : int { NO_BLEND = 0 , SHARED_BLEND , WAYPOINT_BLEND }
	The blend parameters type used to determine which type of blend parameters this instance is. 更多...
enum	MotionType : int { TIME_MOTION , JOINT_MOTION , TOOL_MOTION , SHARED_MOTION }
	The blend parameters type used to determine which type of blend parameters this instance is. 更多...
enum	VariableType : int { VARIABLE_POSE , VARIABLE_JOINT }
enum	RelativePositionType : int { TEACHING , INPUT }
enum	RelativeOffsetType : int { CUSTOM , VARIABLE }
enum class	PositionDefinition : int { UNDEFINED , DEFINED }
enum	VariableDefinition : int { UNDEFINED , DEFINED }

Public 成员函数
	WaypointNode (WaypointNode &f)
	WaypointNode (WaypointNode &&f)
virtual	~WaypointNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
BlendType	getBlendType ()
	Get blend type of the waypoint
MotionType	getMotionType ()
PositionDefinition	getPositionDefinition ()
	Cast this instance appropriately to have access to specific getters.
VariableDefinition	getVariableDefinition ()
	Cast this instance appropriately to have access to specific getters.
double	getBlend ()
double	getJointSpeed ()
double	getJointAcceleration ()
double	getTime ()
double	getToolSpeed ()
double	getToolAcceleration ()
std::vector< double >	getPose ()
std::vector< double >	getJointPositions ()
std::vector< double >	getTcpOffset ()
VariablePtr	getVariable ()
void	setSharedMotionParameters ()
void	setTimeMotionParameters (unsigned int duration)
void	setJointMotionParameters (double joint_speed, double joint_acceleration)
void	setToolMotionParameters (double tool_speed, double tool_acceleration)
void	setFixedPositionConfig ()
void	setFixedPositionConfig (const std::vector< double > &pose_including_tcp, const std::vector< double > &qNear)
void	setVariablePositionConfig ()
void	setVariablePositionConfig (VariablePtr variable)
	Creates a variable position configuration for a waypoint with a defined variable
Public 成员函数继承自 arcs::aubo_scope::ProgramNode
	ProgramNode (ProgramNode &f)
	ProgramNode (ProgramNode &&f)
virtual	~ProgramNode ()
ProgramNodeContributionPtr	getProgramNodeContribution ()
	不推荐用户调用 ProgramNodeContribution::generateScript 使用 ScriptWritter::writeChildren

Private 成员函数
	WaypointNode ()

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

在文件 waypoint_node.h 第 13 行定义.

成员枚举类型说明

◆ BlendType

enum arcs::aubo_scope::WaypointNode::BlendType : int

The blend parameters type used to determine which type of blend parameters this instance is.

枚举值

NO_BLEND

No blend has been selected (the robot arm will stop at this point).

SHARED_BLEND

Shared blend has been selected.

WAYPOINT_BLEND

> Waypoint blend has been selected.

The blend instance can be cast to WaypointBlendParameters.

在文件 waypoint_node.h 第 52 行定义.

◆ ConfigType

enum arcs::aubo_scope::WaypointNode::ConfigType : int

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

枚举值

FIXED_POSITION

Fixed position has been selected (fixed waypoint).

The config instance can be cast to FixedPositionWaypointNodeConfig.

VARIABLE_POSITION

Variable position has been selected (variable waypoint).

The config instance can be cast to VariablePositionWaypointNodeConfig.

RELATIVE_POSITION

Relative position has been selected (relative waypoint).

在文件 waypoint_node.h 第 20 行定义.

◆ MotionType

enum arcs::aubo_scope::WaypointNode::MotionType : int

The blend parameters type used to determine which type of blend parameters this instance is.

枚举值
TIME_MOTION	Time motion parameters has been selected. This instance can be cast to `TimeMotionParameters`.
JOINT_MOTION	Joint motion parameters has been selected. This instance can be cast to `JointMotionParameters`.
TOOL_MOTION	Tool motion parameters has been selected. This instance can be cast to `ToolMotionParameters`.
SHARED_MOTION	Shared motion parameters has been selected.

在文件 waypoint_node.h 第 78 行定义.

◆ PositionDefinition

enum class arcs::aubo_scope::WaypointNode::PositionDefinition : int

strong

枚举值

UNDEFINED

The position has not been defined.

DEFINED

The position of the waypoint has been defined.

Cast this instance to FixedPositionDefinedWaypointNodeConfig.

在文件 waypoint_node.h 第 152 行定义.

◆ RelativeOffsetType

enum arcs::aubo_scope::WaypointNode::RelativeOffsetType : int

枚举值
CUSTOM	Custom offset has been selected.
VARIABLE	Variable type has been selected.

在文件 waypoint_node.h 第 139 行定义.

◆ RelativePositionType

enum arcs::aubo_scope::WaypointNode::RelativePositionType : int

枚举值
TEACHING	The teaching location has been selected.
INPUT	The input offset has been selected.

在文件 waypoint_node.h 第 126 行定义.

◆ VariableDefinition

enum arcs::aubo_scope::WaypointNode::VariableDefinition : int

枚举值

UNDEFINED

A variable has not been selected.

This instance has no further information.

DEFINED

A variable has been selected making this config defined.

Cast this instance to VariablePositionDefinedWaypointNodeConfig.

在文件 waypoint_node.h 第 169 行定义.

◆ VariableType

enum arcs::aubo_scope::WaypointNode::VariableType : int

枚举值
VARIABLE_POSE	This variable type pose parameters has been selected.
VARIABLE_JOINT	This variable type joint parameters has been selected.

在文件 waypoint_node.h 第 113 行定义.

构造及析构函数说明

◆ WaypointNode() [1/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( WaypointNode & f )

引用了 WaypointNode().

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

函数调用图:

这是这个函数的调用关系图:

◆ WaypointNode() [2/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( WaypointNode && f )

引用了 WaypointNode().

函数调用图:

◆ ~WaypointNode()

virtual arcs::aubo_scope::WaypointNode::~WaypointNode ( )

virtual

◆ WaypointNode() [3/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( )

private

成员函数说明

◆ getBlend()

double arcs::aubo_scope::WaypointNode::getBlend ( )

Get the blend to be used for the movement.

Note that, if the configuration has not been applied to a waypoint node in the program tree, the blend value returned is a "suggested" value, since the blend may be (automatically) corrected depending on surrounding waypoints in the program tree (when it is applied to a waypoint node).

返回: the blend for the waypoint.

◆ getBlendType()

BlendType arcs::aubo_scope::WaypointNode::getBlendType ( )

Get blend type of the waypoint

返回: the blend type.

◆ getConfigType()

ConfigType arcs::aubo_scope::WaypointNode::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.

◆ getJointAcceleration()

double arcs::aubo_scope::WaypointNode::getJointAcceleration ( )

返回: the joint acceleration to use for the movement.

◆ getJointPositions()

std::vector< double > arcs::aubo_scope::WaypointNode::getJointPositions ( )

返回: the joint positions corresponding to the pose of the robot (when taking the TCP offset into account)

◆ getJointSpeed()

double arcs::aubo_scope::WaypointNode::getJointSpeed ( )

返回: the joint speed to be achieved.

◆ getMotionType()

MotionType arcs::aubo_scope::WaypointNode::getMotionType ( )

◆ getPose()

std::vector< double > arcs::aubo_scope::WaypointNode::getPose ( )

返回: the waypoint position and orientation.

◆ getPositionDefinition()

PositionDefinition arcs::aubo_scope::WaypointNode::getPositionDefinition ( )

Cast this instance appropriately to have access to specific getters.

返回: the position definition.

◆ getTcpOffset()

std::vector< double > arcs::aubo_scope::WaypointNode::getTcpOffset ( )

返回: the pose for the TCP offset (used when defining the robot position)

◆ getTime()

double arcs::aubo_scope::WaypointNode::getTime ( )

返回: the time for the waypoint movement.

◆ getToolAcceleration()

double arcs::aubo_scope::WaypointNode::getToolAcceleration ( )

返回: the tool acceleration to use for the movement

◆ getToolSpeed()

double arcs::aubo_scope::WaypointNode::getToolSpeed ( )

返回: the tool speed to be achieved.

◆ getVariable()

VariablePtr arcs::aubo_scope::WaypointNode::getVariable ( )

返回: the variable for the waypoint.

◆ getVariableDefinition()

VariableDefinition arcs::aubo_scope::WaypointNode::getVariableDefinition ( )

Cast this instance appropriately to have access to specific getters.

返回: the variable definition.

◆ setFixedPositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig ( )

Creates a fixed position configuration with default values for a waypoint.

Note that these default values may change between AuboScope versions.

返回: the waypoint configuration.

◆ setFixedPositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig	(	const std::vector< double > &	pose_including_tcp,
		const std::vector< double > &	qNear )

Creates a fixed position configuration for a waypoint with a defined pose.

参数

pose_including_tcp	the position and orientation for the waypoint, not `null`.
qNear	the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not `null`.
blendParameters	the blend parameters for the waypoint, not `null`.
waypoint_motion_parameters	the motion parameters for the waypoint, not `null`.

返回: the waypoint configuration.

◆ setJointMotionParameters()

void arcs::aubo_scope::WaypointNode::setJointMotionParameters	(	double	joint_speed,
		double	joint_acceleration )

Creates joint motion parameters for a waypoint.

Can be used for waypoints under a MoveJ.

参数

jointSpeed	the joint speed to be achieved, not `null`.
jointSpeedErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid joint speed value.
joint_acceleration	the joint acceleration to be used for the movement, not `null`.
joint_accelerationErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid joint acceleration value.

返回: the joint motion parameters for the waypoint.

◆ setSharedMotionParameters()

void arcs::aubo_scope::WaypointNode::setSharedMotionParameters ( )

Creates shared motion parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or a MoveP.

返回: the motion parameters for the waypoint.

◆ setTimeMotionParameters()

void arcs::aubo_scope::WaypointNode::setTimeMotionParameters ( unsigned int duration )

Creates time motion parameters for a waypoint.

Can be used for waypoints under a MoveJ or a MoveL.

参数

duration	the time the movement should take, not `null`.
errorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid time value.

返回: the time motion parameters for the waypoint.

◆ setToolMotionParameters()

void arcs::aubo_scope::WaypointNode::setToolMotionParameters	(	double	tool_speed,
		double	tool_acceleration )

Creates tool motion parameters for a waypoint.

Can be used for waypoints under a MoveL or a MoveP.

参数

tool_speed	the tool speed to be achieved, not `null`.
tool_speedErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid tool speed value.
tool_acceleration	the tool acceleration to be used for the movement, not `null`.
tool_accelerationErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid tool acceleration value.

返回: the tool motion parameters for the waypoint.

◆ setVariablePositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig ( )

Creates a variable position configuration with default values for a waypoint

Note that these default values may change between AuboScope versions.

返回: the waypoint configuration.

◆ setVariablePositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig ( VariablePtr variable )

Creates a variable position configuration for a waypoint with a defined variable

参数

variable	the variable position and orientation for the waypoint, not `null`.
blendParameters	the blend parameters for the waypoint, not `null`.
waypoint_motion_parameters	the motion parameters for the waypoint, not `null`.

返回: the waypoint configuration.

◆ DataSwitch

friend class DataSwitch

friend

在文件 waypoint_node.h 第 409 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::WaypointNode::d_ { nullptr }

private

在文件 waypoint_node.h 第 411 行定义.

该类的文档由以下文件生成:

include/aubo_caps/domain/program/nodes/builtin/waypoint_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

◆ BlendType

◆ ConfigType

◆ MotionType

◆ PositionDefinition

◆ RelativeOffsetType

◆ RelativePositionType

◆ VariableDefinition

◆ VariableType

构造及析构函数说明

◆ WaypointNode() [1/3]

◆ WaypointNode() [2/3]

◆ ~WaypointNode()

◆ WaypointNode() [3/3]

成员函数说明

◆ getBlend()

◆ getBlendType()

◆ getConfigType()

◆ getJointAcceleration()

◆ getJointPositions()

◆ getJointSpeed()

◆ getMotionType()

◆ getPose()

◆ getPositionDefinition()

◆ getTcpOffset()

◆ getTime()

◆ getToolAcceleration()

◆ getToolSpeed()

◆ getVariable()

◆ getVariableDefinition()

◆ setFixedPositionConfig() [1/2]

◆ setFixedPositionConfig() [2/2]

◆ setJointMotionParameters()

◆ setSharedMotionParameters()

◆ setTimeMotionParameters()

◆ setToolMotionParameters()

◆ setVariablePositionConfig() [1/2]

◆ setVariablePositionConfig() [2/2]

友元及相关符号说明

◆ DataSwitch

类成员变量说明

◆ d_