API interface for payload parameters. More...

#include <payload.h>

Public Types
enum	ParametersWarning { NO_WARNING , MASS_0KG , RATED_MASS_EXCEEDED , MASS_AND_CENTER_OF_GRAVITY_EXCEEDED }

Public Member Functions
	Payload (Payload &f)
	Payload (Payload &&f)
	~Payload ()
double	getMass () const
std::vector< double >	getCenterOfGravity () const
	Gets the payload's center of gravity (CoG), also referred to as center of mass.
std::vector< double >	getInertiaMatrix () const
std::string	getDisplayName () const
bool	isResolvable ()
bool	isUsable ()
ParametersWarning	getParametersWarning ()
size_t	hashCode ()

Private Member Functions
	Payload ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

API interface for payload parameters.

Definition at line 16 of file payload.h.

Member Enumeration Documentation

◆ ParametersWarning

enum arcs::aubo_scope::Payload::ParametersWarning

This enum represents the different types of warnings that the parameters of a payload can have.

A payload can be usable, but may have a value for a payload parameter or may have a combination of (some of the) payload parameters, that could affect performance of the robot, if the payload is used (i.e., if the parameters are applied).

Enumerator
NO_WARNING	None of the parameters of the payload or the combination of payload parameters has any warnings.
MASS_0KG	The payload has a mass of 0 kg which is most likely not intended/valid. Note that the value for the payload mass should be the total mass of the payload attached to the tool output flange of the robot.
RATED_MASS_EXCEEDED	The mass of the payload exceeds the rated maximum supported payload mass of the robot. Using the payload could affect performance of the robot.
MASS_AND_CENTER_OF_GRAVITY_EXCEEDED	The combination of the mass and the center of gravity of could affect the performance of the robot, if the payload is used.

Definition at line 34 of file payload.h.

Constructor & Destructor Documentation

◆ Payload() [1/3]

arcs::aubo_scope::Payload::Payload ( Payload & f )

References Payload().

Referenced by Payload(), and Payload().

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◆ Payload() [2/3]

arcs::aubo_scope::Payload::Payload ( Payload && f )

References Payload().

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◆ ~Payload()

arcs::aubo_scope::Payload::~Payload ( )

◆ Payload() [3/3]

arcs::aubo_scope::Payload::Payload ( )

private

Member Function Documentation

◆ getCenterOfGravity()

std::vector< double > arcs::aubo_scope::Payload::getCenterOfGravity ( ) const

Gets the payload's center of gravity (CoG), also referred to as center of mass.

It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.

Returns: The center of gravity (CoG) of the payload relative to the center of the tool output flange

◆ getDisplayName()

std::string arcs::aubo_scope::Payload::getDisplayName ( ) const

Gets the name of the payload displayed in the AuboScope UI.

Note: The payload can change name at any time, and thus the name must not be used to uniquely identify a specific payload. The payload name can change in the following situations:

The payload is renamed by the end user
The name gets translated (depending on the selected language in AuboScope)
The name is changed between versions of the AuboCap that added the payload

Returns: The name of the payload displayed in AuboScope

◆ getInertiaMatrix()

std::vector< double > arcs::aubo_scope::Payload::getInertiaMatrix ( ) const

Gets the inertia matrix of the payload. The inertia matrix is defined in a coordinate system with center at the payload's center of gravity (CoG) and the axes aligned with the tool output flange coordinate system (axes).

Note: The inertia matrix specified by the end user can be invalid. The isUsable method can be used determine, if the payload can be used (i.e., has a valid inertia matrix).

Returns: The inertia matrix of the payload

◆ getMass()

double arcs::aubo_scope::Payload::getMass ( ) const

Returns: The total mass of the payload (attached to the tool output flange of the robot)

◆ getParametersWarning()

ParametersWarning arcs::aubo_scope::Payload::getParametersWarning ( )

Use this method to check if the parameters of this payload have any warnings.

A payload can be usable, but may have a value for a payload parameter or may have a combination of (some of the) payload parameters, that could affect performance of the robot, if the payload is used (i.e., if the parameters are applied).

An unresolvable payload (see isResolvable()) will have no warning for its parameters (i.e. ParametersWarning#NO_WARNING is returned).

Returns: The warning (if any) for the parameters of this payload.

◆ hashCode()

size_t arcs::aubo_scope::Payload::hashCode ( )

◆ isResolvable()

bool arcs::aubo_scope::Payload::isResolvable ( )

A payload cannot be guaranteed to be present in AuboScope. This method can be used to determine, if the payload is present.

The payload will not be present, if the end user loads a different installation which does not contain the payload, or if the payload is removed by the end user or the AuboCap that added the payload.

Note: Storing an undefined payload in a program node contribution's (a ProgramNodeContribution instance) data model (DataModel interface) will automatically make the program node (and the program) undefined.

Returns: true if this payload is present in AuboScope, otherwise false.

◆ isUsable()

bool arcs::aubo_scope::Payload::isUsable ( )

Use this method to determine if the payload can be used. An unresolvable payload (see the isResolvable method) will always be unusable.

A payload can have an invalid inertia matrix, where all the individual values of the matrix are within the valid range, but the combination of values is invalid.

Note: Storing an unusable payload in a program node contribution's (a ProgramNodeContribution instance) data model (DataModel interface) will automatically make the program node (and the program) undefined.

Returns: true, if the payload is usable, otherwise false. false will always be returned when the payload is unresolvable (see the isResolvable method).

◆ DataSwitch

friend class DataSwitch

friend

Definition at line 189 of file payload.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

◆ d_

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