arcs::aubo_scope::SetPayloadNode Class Reference

#include <set_payload_node.h>

Inheritance diagram for arcs::aubo_scope::SetPayloadNode:

Collaboration diagram for arcs::aubo_scope::SetPayloadNode:

Public Types
enum	ConfigType { PAYLOAD_SELECTION , CUSTOM_PARAMETERS }
	This base interface represents a configuration of the Set Payload program node (i.e. More...

Public Member Functions
	SetPayloadNode (SetPayloadNode &f)
	SetPayloadNode (SetPayloadNode &&f)
virtual	~SetPayloadNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
void	setConfigType (ConfigType type)
double	getMass ()
void	setMass (double mass)
std::vector< double >	getCenterOfGravity ()
	Gets the payload's center of gravity (CoG), also referred to as center of mass.
void	setCenterOfGravity (const std::vector< double > &cog)
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
	SetPayloadNode ()

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 11 of file set_payload_node.h.

Member Enumeration Documentation

ConfigType

enum arcs::aubo_scope::SetPayloadNode::ConfigType

This base interface represents a configuration of the Set Payload program node (i.e.

a SetPayloadNode instance).

Enumerator
PAYLOAD_SELECTION	A payload (from the installation) is selected. The config instance can be cast to SelectionPayloadNodeConfig.
CUSTOM_PARAMETERS	Custom payload parameters are specified. The config instance can be cast to CustomParametersPayloadNodeConfig.

Definition at line 19 of file set_payload_node.h.

Constructor & Destructor Documentation

SetPayloadNode() [1/3]

arcs::aubo_scope::SetPayloadNode::SetPayloadNode

(

SetPayloadNode &

f

)

References SetPayloadNode().

Referenced by SetPayloadNode(), and SetPayloadNode().

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SetPayloadNode() [2/3]

arcs::aubo_scope::SetPayloadNode::SetPayloadNode

(

SetPayloadNode &&

f

)

References SetPayloadNode().

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~SetPayloadNode()

virtual arcs::aubo_scope::SetPayloadNode::~SetPayloadNode ( )

virtual

SetPayloadNode() [3/3]

arcs::aubo_scope::SetPayloadNode::SetPayloadNode ( )

private

Member Function Documentation

getCenterOfGravity()

std::vector< double > arcs::aubo_scope::SetPayloadNode::getCenterOfGravity

(

)

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

getConfigType()

ConfigType arcs::aubo_scope::SetPayloadNode::getConfigType

(

)

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns

The type of this config.

getMass()

double arcs::aubo_scope::SetPayloadNode::getMass

(

)

Returns

The total mass of the payload

setCenterOfGravity()

void arcs::aubo_scope::SetPayloadNode::setCenterOfGravity

(

const std::vector< double > &

cog

)

setConfigType()

void arcs::aubo_scope::SetPayloadNode::setConfigType

(

ConfigType

type

)

setMass()

void arcs::aubo_scope::SetPayloadNode::setMass

(

double

mass

)

Friends And Related Symbol Documentation

DataSwitch

friend class DataSwitch

friend

Definition at line 88 of file set_payload_node.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

d_

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

private

Definition at line 90 of file set_payload_node.h.

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

• include/aubo_caps/domain/program/nodes/builtin/set_payload_node.h