UserInteraction This interface provides functionality for requesting input or actions from end users. More...

#include <user_interaction.h>

Public Member Functions
	UserInteraction (UserInteraction &f)
	UserInteraction (UserInteraction &&f)
virtual	~UserInteraction ()
void	getUserDefinedRobotPosition (RobotPositionCallback callback)
void	getUserDefinedRobotPosition (const std::vector< double > &tcpOffset, RobotPositionCallback callback)
	Request the end user to define a robot position with specified tcpOffset.
void	getUserDefinedRobotPosition (const std::string &tcpOffset, RobotPositionCallback callback)
	Request the end user to define a robot position with specified tcpOffset string.
void	getUserDefinedRobotPosition (const TCPPtr tcpOffset, RobotPositionCallback callback)
	Request the end user to define a robot position with specified TCP object.
KeyboardManagerPtr	getKeyboardManager ()
int	requestUserToMoveJoint (const std::vector< double > &q, RobotMovementCallback callback)
int	requestUserToMoveJoint (const std::string &q, RobotMovementCallback callback)
	requestUserToMoveJoint
int	requestUserToMoveJoint (const std::vector< double > &pose, const std::vector< double > &q, RobotMovementCallback callback)
QT_DEPRECATED int	requestUserToMoveLine (const std::vector< double > &pose, RobotMovementCallback callback)
int	requestUserToMoveLine (const std::vector< double > &pose, const std::vector< double > &tcpOffset, RobotMovementCallback callback)
QPixmap *	getRobotThumb (const std::vector< double > &q, const std::vector< double > &pose)
	Get robot thumbnail.
void	setOperationLogDisplayName (QWidget *pbn, const std::string &name)
RenderInterfacePtr	getRenderInterface ()
PopupManagerPtr	getPopupManager ()

Private Member Functions
	UserInteraction ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

UserInteraction This interface provides functionality for requesting input or actions from end users.

Definition at line 35 of file user_interaction.h.

Constructor & Destructor Documentation

◆ UserInteraction() [1/3]

arcs::aubo_scope::UserInteraction::UserInteraction ( UserInteraction & f )

References UserInteraction().

Referenced by UserInteraction(), and UserInteraction().

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◆ UserInteraction() [2/3]

arcs::aubo_scope::UserInteraction::UserInteraction ( UserInteraction && f )

References UserInteraction().

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◆ ~UserInteraction()

virtual arcs::aubo_scope::UserInteraction::~UserInteraction ( )

virtual

◆ UserInteraction() [3/3]

arcs::aubo_scope::UserInteraction::UserInteraction ( )

private

Member Function Documentation

◆ getKeyboardManager()

KeyboardManagerPtr arcs::aubo_scope::UserInteraction::getKeyboardManager ( )

This method provides a factory for creating keyboard inputs which are used to configure a virtual keyboard/keypad and to request it to be displayed for a Qt GUI component.

NOTE: This functionality is only relevant for AuboCap nodes with a Qt-based user interface (see ProgramNodeService, InstallationNodeService and ToolbarService).

Returns: factory providing access to keyboard inputs.

◆ getPopupManager()

PopupManagerPtr arcs::aubo_scope::UserInteraction::getPopupManager ( )

Returns: This method provides popup manager.

◆ getRenderInterface()

RenderInterfacePtr arcs::aubo_scope::UserInteraction::getRenderInterface ( )

Returns: This method provides robot model drawing objects.

◆ getRobotThumb()

QPixmap * arcs::aubo_scope::UserInteraction::getRobotThumb	(	const std::vector< double > &	q,
		const std::vector< double > &	pose )

Get robot thumbnail.

Parameters

q	joint angles
pose	pose

Returns: robot thumbnail

◆ getUserDefinedRobotPosition() [1/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const std::string &	tcpOffset,
		RobotPositionCallback	callback )

Request the end user to define a robot position with specified tcpOffset string.

Parameters

tcpOffset
callback

◆ getUserDefinedRobotPosition() [2/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const std::vector< double > &	tcpOffset,
		RobotPositionCallback	callback )

Request the end user to define a robot position with specified tcpOffset.

Parameters

tcpOffset
callback

◆ getUserDefinedRobotPosition() [3/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition	(	const TCPPtr	tcpOffset,
		RobotPositionCallback	callback )

Request the end user to define a robot position with specified TCP object.

Parameters

tcpOffset
callback

◆ getUserDefinedRobotPosition() [4/4]

void arcs::aubo_scope::UserInteraction::getUserDefinedRobotPosition ( RobotPositionCallback callback )

Request the end user to use the robot to define a robot position. Override the RobotPositionCallback2#onOk(PositionParameters) method to execute code once the end user is done. Optionally override the RobotPositionCallback2#onCancel() method to execute code if the end user cancels the operation.

This method is asynchronous, i.e. the method will return immediately. Only when the end user is done, either RobotPositionCallback2#onOk(PositionParameters) or RobotPositionCallback2#onCancel() will be called.

NOTE: This functionality should not be used in a toolbar contribution (see ToolbarService).

Parameters

callback the instance callbacks will be made to.

◆ requestUserToMoveJoint() [1/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::string &	q,
		RobotMovementCallback	callback )

requestUserToMoveJoint

Parameters

q
callback

Returns

◆ requestUserToMoveJoint() [2/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::vector< double > &	pose,
		const std::vector< double > &	q,
		RobotMovementCallback	callback )

Parameters

pose	The target pose the robot TCP will move to.
q	The reference joint Angle.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the plugin screen is not active (visible).

◆ requestUserToMoveJoint() [3/3]

int arcs::aubo_scope::UserInteraction::requestUserToMoveJoint	(	const std::vector< double > &	q,
		RobotMovementCallback	callback )

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by joint positions.

The Automove function will move the robot to the target joint positions linearly in joint space.

NOTE: This method does not take the currently active TCP offset into account, i.e. the Automove function will have the specified joint positions as target.

Parameters

q	The target joint positions to move to.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the plugin screen is not active (visible).

◆ requestUserToMoveLine() [1/2]

int arcs::aubo_scope::UserInteraction::requestUserToMoveLine	(	const std::vector< double > &	pose,
		const std::vector< double > &	tcpOffset,
		RobotMovementCallback	callback )

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters

pose	The target pose the robot TCP will move to.
tcpOffset
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the plugin screen is not active (visible).

◆ requestUserToMoveLine() [2/2]

QT_DEPRECATED int arcs::aubo_scope::UserInteraction::requestUserToMoveLine	(	const std::vector< double > &	pose,
		RobotMovementCallback	callback )

Transition to the move tab widget to allow/request the end user to move the robot (either automatically or manually) to a desired target position specified by a pose.

The Automove function will move the robot TCP to the target position linearly in Cartesian space. If this it not possible, the robot will move to the target linearly in joint space.

The current joint positions of the robot will be used as starting point for inverse kinematics to calculate a target joint vector corresponding to desired pose, taking the currently active TCP offset into account.

Parameters

pose	The target pose the robot TCP will move to.
callback	The instance which callbacks will be made to.

Exceptions

IllegalStateException If the plugin screen is not active (visible).

◆ setOperationLogDisplayName()

void arcs::aubo_scope::UserInteraction::setOperationLogDisplayName	(	QWidget *	pbn,
		const std::string &	name )

setOperationLogDisplayName

Parameters

pbn
name

◆ DataSwitch

friend class DataSwitch

friend

Definition at line 283 of file user_interaction.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

◆ d_

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

private

Definition at line 285 of file user_interaction.h.

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

include/aubo_caps/domain/user_interface/user_interaction.h

AuboStudio SDK 0.6.3

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UserInteraction() [1/3]

◆ UserInteraction() [2/3]

◆ ~UserInteraction()

◆ UserInteraction() [3/3]

Member Function Documentation

◆ getKeyboardManager()

◆ getPopupManager()

◆ getRenderInterface()

◆ getRobotThumb()

◆ getUserDefinedRobotPosition() [1/4]

◆ getUserDefinedRobotPosition() [2/4]

◆ getUserDefinedRobotPosition() [3/4]

◆ getUserDefinedRobotPosition() [4/4]

◆ requestUserToMoveJoint() [1/3]

◆ requestUserToMoveJoint() [2/3]

◆ requestUserToMoveJoint() [3/3]

◆ requestUserToMoveLine() [1/2]

◆ requestUserToMoveLine() [2/2]

◆ setOperationLogDisplayName()

Friends And Related Symbol Documentation

◆ DataSwitch

Member Data Documentation

◆ d_