arcs::aubo_scope::WidthCapability类 参考

#include <width_capability.h>

Public 成员函数
virtual	~WidthCapability ()=default
virtual void	updateCapability (double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0

详细描述

This interface represents a registered width/position capability for a gripper which supports moving to a user configurable position (open/close to a configurable width).

Through this interface, it is possible to adjust the range and default values for the width after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

在文件 width_capability.h 第 22 行定义.

构造及析构函数说明

~WidthCapability()

virtual arcs::aubo_scope::WidthCapability::~WidthCapability ( )

virtualdefault

成员函数说明

updateCapability()

virtual void arcs::aubo_scope::WidthCapability::updateCapability ( double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth )

pure virtual

Update the range and default values for the width supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

参数

minWidth	minimum width supported by the gripper
maxWidth	maximum width supported by the gripper
defaultGripWidth	default value for the width for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar
defaultReleaseWidth	default value for the width for a release action. This value is used for, e.g. performing a "default" release action using the toolbar
unit	the unit for all specified values, not null

异常

InvalidCapabilityRange	if minWidth} > maxWidth
InvalidCapabilityRange	if defaultGripWidth or defaultReleaseWidth is outside the range defined by minWidth and maxWidth.

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该类的文档由以下文件生成:

• include/aubo_caps/contribution/driver/gripper/capability/width_capability.h