arcs::aubo_scope::WidthCapability Class Reference

#include <width_capability.h>

Public Member Functions
virtual	~WidthCapability ()=default
virtual void	updateCapability (double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0

Detailed Description

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).

Definition at line 22 of file width_capability.h.

Constructor & Destructor Documentation

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

virtualdefault

Member Function Documentation

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.

Parameters

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

Exceptions

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

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

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