#include <move_node.h>

Inheritance diagram for arcs::aubo_scope::MoveNode:

Collaboration diagram for arcs::aubo_scope::MoveNode:

Public Types
enum	ConfigType : int { MOVE_J = 0 , MOVE_L , MOVE_S }
enum	TcpSelectionType : int { USE_ACTIVE_TCP = 0 , IGNORE_ACTIVE_TCP , MOVE_TCP }
enum	FeatureSelectionType : int { UNRESOLVED_FEATURE , FEATURE }

Public Member Functions
	MoveNode (MoveNode &f)
	MoveNode (MoveNode &&f)
virtual	~MoveNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
void	setConfigType (ConfigType type)
bool	getUseJoints ()
void	setUseJoints (bool use)
void	setJointSpeed (double joint_speed)
double	getJointSpeed ()
void	setJointAcceleration (double joint_acceleration)
double	getJointAcceleration ()
void	setTCPSelection (TCPPtr tcp_selection)
TCPPtr	getTCPSelection ()
void	setToolSpeed (double tool_speed)
double	getToolSpeed ()
void	setToolAcceleration (double tool_acceleration)
double	getToolAcceleration ()
void	setFeature (FeaturePtr feature)
void	setFeature (FeatureVariablePtr feature_variable)
FeaturePtr	getFeature ()
void	setBlend (double blend)
double	getBlend ()
void	setTcpSelectionType (TcpSelectionType type)
TcpSelectionType	getTcpSelectionType ()
Public Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode (ProgramNode &f)
	ProgramNode (ProgramNode &&f)
virtual	~ProgramNode ()
ProgramNodeContributionPtr	getProgramNodeContribution ()
	Get the program node contribution.

Private Member Functions
	MoveNode ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Additional Inherited Members
Protected Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode ()

Detailed Description

Definition at line 13 of file move_node.h.

Member Enumeration Documentation

◆ ConfigType

enum arcs::aubo_scope::MoveNode::ConfigType : int

Enumerator

MOVE_J

Movement type is MoveJ.

The config instance can be cast to MoveJMoveNodeConfig.

MOVE_L

Movement type is MoveL.

The config instance can be cast to MoveLMoveNodeConfig.

MOVE_S

Definition at line 16 of file move_node.h.

◆ FeatureSelectionType

enum arcs::aubo_scope::MoveNode::FeatureSelectionType : int

Enumerator

UNRESOLVED_FEATURE

The selected feature is no longer available (e.g.

because the user has removed the feature in the Installation or the needed Installation is not currently loaded)

FEATURE

Feature is selected.

The Selection instance can be cast to MoveNodeFeature

Definition at line 62 of file move_node.h.

◆ TcpSelectionType

enum arcs::aubo_scope::MoveNode::TcpSelectionType : int

Enumerator

USE_ACTIVE_TCP

Motions are adjusted to the currently active TCP.

The TCP is determined during runtime of the program.

IGNORE_ACTIVE_TCP

No TCP is used and the motion under this Move command will be with respect to the tool output flange.

MOVE_TCP

A specific TCP is selected.

The TCPSelection instance can be cast to MoveNodeTCP.

Definition at line 40 of file move_node.h.

Constructor & Destructor Documentation

◆ MoveNode() [1/3]

arcs::aubo_scope::MoveNode::MoveNode ( MoveNode & f )

References MoveNode().

Referenced by MoveNode(), and MoveNode().

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Here is the caller graph for this function:

◆ MoveNode() [2/3]

arcs::aubo_scope::MoveNode::MoveNode ( MoveNode && f )

References MoveNode().

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◆ ~MoveNode()

virtual arcs::aubo_scope::MoveNode::~MoveNode ( )

virtual

◆ MoveNode() [3/3]

arcs::aubo_scope::MoveNode::MoveNode ( )

private

Member Function Documentation

◆ getBlend()

double arcs::aubo_scope::MoveNode::getBlend ( )

◆ getConfigType()

ConfigType arcs::aubo_scope::MoveNode::getConfigType ( )

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns: the type of this config.

◆ getFeature()

FeaturePtr arcs::aubo_scope::MoveNode::getFeature ( )

◆ getJointAcceleration()

double arcs::aubo_scope::MoveNode::getJointAcceleration ( )

◆ getJointSpeed()

double arcs::aubo_scope::MoveNode::getJointSpeed ( )

◆ getTCPSelection()

TCPPtr arcs::aubo_scope::MoveNode::getTCPSelection ( )

◆ getTcpSelectionType()

TcpSelectionType arcs::aubo_scope::MoveNode::getTcpSelectionType ( )

◆ getToolAcceleration()

double arcs::aubo_scope::MoveNode::getToolAcceleration ( )

◆ getToolSpeed()

double arcs::aubo_scope::MoveNode::getToolSpeed ( )

◆ getUseJoints()

bool arcs::aubo_scope::MoveNode::getUseJoints ( )

◆ setBlend()

void arcs::aubo_scope::MoveNode::setBlend ( double blend )

Set the blend parameter for the MoveP configuration.

The blend parameter will be used between all waypoints in the movement of the robot arm.

Parameters

blend The shared blend used in the motion of this Move node.

◆ setConfigType()

void arcs::aubo_scope::MoveNode::setConfigType ( ConfigType type )

◆ setFeature() [1/2]

void arcs::aubo_scope::MoveNode::setFeature ( FeaturePtr feature )

Set feature for the MoveL configuration.

The feature will be used for the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

feature The shared feature for this movement.

◆ setFeature() [2/2]

void arcs::aubo_scope::MoveNode::setFeature ( FeatureVariablePtr feature_variable )

◆ setJointAcceleration()

void arcs::aubo_scope::MoveNode::setJointAcceleration ( double joint_acceleration )

Set joint acceleration parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

joint_acceleration The shared joint acceleration to be used.

◆ setJointSpeed()

void arcs::aubo_scope::MoveNode::setJointSpeed ( double joint_speed )

Set joint speed parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

joint_speed The shared joint speed to be achieved.

◆ setTCPSelection()

void arcs::aubo_scope::MoveNode::setTCPSelection ( TCPPtr tcp_selection )

Set the TCP selection for the MoveJ configuration.

The TCP will be set as the active TCP before the movement of the robot arm is performed.

Parameters

tcp_selection The TCP setting to be applied.

◆ setTcpSelectionType()

void arcs::aubo_scope::MoveNode::setTcpSelectionType ( TcpSelectionType type )

◆ setToolAcceleration()

void arcs::aubo_scope::MoveNode::setToolAcceleration ( double tool_acceleration )

Set tool acceleration parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

tool_acceleration The shared tool acceleration to be used.

◆ setToolSpeed()

void arcs::aubo_scope::MoveNode::setToolSpeed ( double tool_speed )

Set tool speed parameter for the MoveL configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters

tool_speed The shared tool speed to be achieved.

◆ setUseJoints()

void arcs::aubo_scope::MoveNode::setUseJoints ( bool use )

◆ DataSwitch

friend class DataSwitch

friend

Definition at line 218 of file move_node.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

◆ d_

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

private

Definition at line 220 of file move_node.h.

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

include/aubo_caps/domain/program/nodes/builtin/move_node.h

AuboStudio SDK 0.6.3

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ConfigType

◆ FeatureSelectionType

◆ TcpSelectionType

Constructor & Destructor Documentation

◆ MoveNode() [1/3]

◆ MoveNode() [2/3]

◆ ~MoveNode()

◆ MoveNode() [3/3]

Member Function Documentation

◆ getBlend()

◆ getConfigType()

◆ getFeature()

◆ getJointAcceleration()

◆ getJointSpeed()

◆ getTCPSelection()

◆ getTcpSelectionType()

◆ getToolAcceleration()

◆ getToolSpeed()

◆ getUseJoints()

◆ setBlend()

◆ setConfigType()

◆ setFeature() [1/2]

◆ setFeature() [2/2]

◆ setJointAcceleration()

◆ setJointSpeed()

◆ setTCPSelection()

◆ setTcpSelectionType()

◆ setToolAcceleration()

◆ setToolSpeed()

◆ setUseJoints()

Friends And Related Symbol Documentation

◆ DataSwitch

Member Data Documentation

◆ d_