arcs::aubo_scope::WaypointModel Class Reference

WaypointModel Provides methods that returns Waypoints from the current robot installation. More...

#include <waypoint_model.h>

Public Member Functions
	WaypointModel (WaypointModel &f)
	WaypointModel (WaypointModel &&f)
	~WaypointModel ()
std::vector< WaypointPtr >	getWaypoints ()
	Returns the geometric Waypoints of the current installation.
WaypointPtr	getByName (const std::string &name)
	Returns the Waypoint by name.
WaypointPtr	addWaypoint (const std::string &suggestedName, const std::vector< double > &pose)
	Add a Waypoint to the current AuboScope installation.
WaypointPtr	addWaypoint (const std::string &suggestedName, const std::vector< double > &pose, const std::vector< double > &joint, const std::vector< double > &offset)
	Add a Waypoint to the current AuboScope installation with joint angles and offset.
void	removeWaypoint (const std::string &name)
	Remove a Waypoint added by this AuboCap from AuboScope.
void	renameWaypoint (const std::string &name, const std::string &newName)
	Rename the waypoint in the model by the name.

Private Member Functions
	WaypointModel ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

WaypointModel Provides methods that returns Waypoints from the current robot installation.

Definition at line 22 of file waypoint_model.h.

Constructor & Destructor Documentation

WaypointModel() [1/3]

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &

f

)

References WaypointModel().

Referenced by WaypointModel(), and WaypointModel().

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WaypointModel() [2/3]

arcs::aubo_scope::WaypointModel::WaypointModel

(

WaypointModel &&

f

)

References WaypointModel().

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~WaypointModel()

arcs::aubo_scope::WaypointModel::~WaypointModel

(

)

WaypointModel() [3/3]

arcs::aubo_scope::WaypointModel::WaypointModel ( )

private

Member Function Documentation

addWaypoint() [1/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint	(	const std::string &	suggestedName,
		const std::vector< double > &	pose )

Add a Waypoint to the current AuboScope installation.

This makes it selectable by the end user. The Waypoint is not modifiable by the end user.

Parameters

suggestedName	Suggested name for the Waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned Waypoint instance.
pose	The pose of the Waypoint with respect to the robot base.

Returns

The Waypoint created and registered in AuboScope.

Exceptions

WaypointAlreadyAddedException	If a Waypoint has previously been added the same idKey identifier. Use getWaypoint(String) to check if the Waypoint has already been added to the current installation. Use updateWaypoint(String, Pose) to update the Waypoint.
IllegalWaypointNameException	If the suggested name does not match required regex.

addWaypoint() [2/2]

WaypointPtr arcs::aubo_scope::WaypointModel::addWaypoint	(	const std::string &	suggestedName,
		const std::vector< double > &	pose,
		const std::vector< double > &	joint,
		const std::vector< double > &	offset )

Add a Waypoint to the current AuboScope installation with joint angles and offset.

Parameters

suggestedName	Suggested name for the Waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned Waypoint instance.
pose	The pose of the Waypoint with respect to the robot base.
joint	The joint of the Waypoint with respect to the robot base.
offset	The tcp of the Waypoint with respect to the robot base.

Returns

The Waypoint created and registered in AuboScope.

Exceptions

WaypointAlreadyAddedException	If a Waypoint has previously been added the same idKey identifier. Use getWaypoint(String) to check if the Waypoint has already been added to the current installation. Use updateWaypoint(String, Pose) to update the Waypoint.
IllegalWaypointNameException	If the suggested name does not match required regex.

getByName()

WaypointPtr arcs::aubo_scope::WaypointModel::getByName

(

const std::string &

name

)

Returns the Waypoint by name.

Parameters

name	the name of the Waypoint.

Returns

the Waypoint with the given name.

getWaypoints()

std::vector< WaypointPtr > arcs::aubo_scope::WaypointModel::getWaypoints

(

)

Returns the geometric Waypoints of the current installation.

Returns

the geometric Waypoints of the current installation.

removeWaypoint()

void arcs::aubo_scope::WaypointModel::removeWaypoint

(

const std::string &

name

)

Remove a Waypoint added by this AuboCap from AuboScope.

Program nodes using the Waypoint will be become undefined because the Waypoint is no longer resolvable.

Parameters

name	The key used to add the Waypoint with.

Exceptions

WaypointNotFoundException

If no Waypoint exists with the provided idKey.

renameWaypoint()

void arcs::aubo_scope::WaypointModel::renameWaypoint	(	const std::string &	name,
		const std::string &	newName )

Rename the waypoint in the model by the name.

Parameters

name	the original name.
newName	the new name.

Friends And Related Symbol Documentation

DataSwitch

friend class DataSwitch

friend

Definition at line 169 of file waypoint_model.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

d_

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

private

Definition at line 171 of file waypoint_model.h.

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

• include/aubo_caps/domain/waypoint/waypoint_model.h