#include <waypoint_node.h>

Inheritance diagram for arcs::aubo_scope::WaypointNode:

Collaboration diagram for arcs::aubo_scope::WaypointNode:

Public Types
enum	ConfigType : int { FIXED_POSITION = 0 , VARIABLE_POSITION , RELATIVE_POSITION }
	The configuration type used to determine which type of configuration this instance is. More...
enum	BlendType : int { NO_BLEND = 0 , SHARED_BLEND , WAYPOINT_BLEND }
	The blend parameters type used to determine which type of blend parameters this instance is. More...
enum	MotionType : int { TIME_MOTION , JOINT_MOTION , TOOL_MOTION , SHARED_MOTION }
	The blend parameters type used to determine which type of blend parameters this instance is. More...
enum	VariableType : int { VARIABLE_POSE , VARIABLE_JOINT }
enum	RelativePositionType : int { TEACHING , INPUT }
enum	RelativeOffsetType : int { CUSTOM , VARIABLE }
enum class	PositionDefinition : int { UNDEFINED , DEFINED }
enum	VariableDefinition : int { UNDEFINED , DEFINED }

Public Member Functions
	WaypointNode (WaypointNode &f)
	WaypointNode (WaypointNode &&f)
virtual	~WaypointNode ()
ConfigType	getConfigType ()
	This method returns the type of configuration.
BlendType	getBlendType ()
	Get blend type of the waypoint.
MotionType	getMotionType ()
PositionDefinition	getPositionDefinition ()
	Cast this instance appropriately to have access to specific getters.
VariableDefinition	getVariableDefinition ()
	Cast this instance appropriately to have access to specific getters.
double	getBlend ()
double	getJointSpeed ()
double	getJointAcceleration ()
double	getTime ()
double	getToolSpeed ()
double	getToolAcceleration ()
std::vector< double >	getPose ()
std::vector< double >	getJointPositions ()
std::vector< double >	getTcpOffset ()
VariablePtr	getVariable ()
void	setSharedMotionParameters ()
void	setTimeMotionParameters (unsigned int duration)
void	setJointMotionParameters (double joint_speed, double joint_acceleration)
void	setToolMotionParameters (double tool_speed, double tool_acceleration)
void	setFixedPositionConfig ()
void	setFixedPositionConfig (const std::vector< double > &pose_including_tcp, const std::vector< double > &qNear)
void	setVariablePositionConfig ()
void	setVariablePositionConfig (VariablePtr variable)
	Creates a variable position configuration for a waypoint with a defined variable.
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
	WaypointNode ()

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 waypoint_node.h.

Member Enumeration Documentation

◆ BlendType

enum arcs::aubo_scope::WaypointNode::BlendType : int

The blend parameters type used to determine which type of blend parameters this instance is.

Enumerator

NO_BLEND

No blend has been selected (the robot arm will stop at this point).

SHARED_BLEND

Shared blend has been selected.

WAYPOINT_BLEND

> Waypoint blend has been selected.

The blend instance can be cast to WaypointBlendParameters.

Definition at line 52 of file waypoint_node.h.

◆ ConfigType

enum arcs::aubo_scope::WaypointNode::ConfigType : int

The configuration type used to determine which type of configuration this instance is.

Enumerator

FIXED_POSITION

Fixed position has been selected (fixed waypoint).

The config instance can be cast to FixedPositionWaypointNodeConfig.

VARIABLE_POSITION

Variable position has been selected (variable waypoint).

The config instance can be cast to VariablePositionWaypointNodeConfig.

RELATIVE_POSITION

Relative position has been selected (relative waypoint).

Definition at line 20 of file waypoint_node.h.

◆ MotionType

enum arcs::aubo_scope::WaypointNode::MotionType : int

The blend parameters type used to determine which type of blend parameters this instance is.

Enumerator
TIME_MOTION	Time motion parameters has been selected. This instance can be cast to `TimeMotionParameters`.
JOINT_MOTION	Joint motion parameters has been selected. This instance can be cast to `JointMotionParameters`.
TOOL_MOTION	Tool motion parameters has been selected. This instance can be cast to `ToolMotionParameters`.
SHARED_MOTION	Shared motion parameters has been selected.

Definition at line 78 of file waypoint_node.h.

◆ PositionDefinition

enum class arcs::aubo_scope::WaypointNode::PositionDefinition : int

strong

Enumerator

UNDEFINED

The position has not been defined.

DEFINED

The position of the waypoint has been defined.

Cast this instance to FixedPositionDefinedWaypointNodeConfig.

Definition at line 152 of file waypoint_node.h.

◆ RelativeOffsetType

enum arcs::aubo_scope::WaypointNode::RelativeOffsetType : int

Enumerator
CUSTOM	Custom offset has been selected.
VARIABLE	Variable type has been selected.

Definition at line 139 of file waypoint_node.h.

◆ RelativePositionType

enum arcs::aubo_scope::WaypointNode::RelativePositionType : int

Enumerator
TEACHING	The teaching location has been selected.
INPUT	The input offset has been selected.

Definition at line 126 of file waypoint_node.h.

◆ VariableDefinition

enum arcs::aubo_scope::WaypointNode::VariableDefinition : int

Enumerator

UNDEFINED

A variable has not been selected.

This instance has no further information.

DEFINED

A variable has been selected making this config defined.

Cast this instance to VariablePositionDefinedWaypointNodeConfig.

Definition at line 169 of file waypoint_node.h.

◆ VariableType

enum arcs::aubo_scope::WaypointNode::VariableType : int

Enumerator
VARIABLE_POSE	This variable type pose parameters has been selected.
VARIABLE_JOINT	This variable type joint parameters has been selected.

Definition at line 113 of file waypoint_node.h.

Constructor & Destructor Documentation

◆ WaypointNode() [1/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( WaypointNode & f )

References WaypointNode().

Referenced by WaypointNode(), and WaypointNode().

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◆ WaypointNode() [2/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( WaypointNode && f )

References WaypointNode().

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◆ ~WaypointNode()

virtual arcs::aubo_scope::WaypointNode::~WaypointNode ( )

virtual

◆ WaypointNode() [3/3]

arcs::aubo_scope::WaypointNode::WaypointNode ( )

private

Member Function Documentation

◆ getBlend()

double arcs::aubo_scope::WaypointNode::getBlend ( )

Get the blend to be used for the movement.

Note that, if the configuration has not been applied to a waypoint node in the program tree, the blend value returned is a "suggested" value, since the blend may be (automatically) corrected depending on surrounding waypoints in the program tree (when it is applied to a waypoint node).

Returns: the blend for the waypoint.

◆ getBlendType()

BlendType arcs::aubo_scope::WaypointNode::getBlendType ( )

Get blend type of the waypoint.

Returns: the blend type.

◆ getConfigType()

ConfigType arcs::aubo_scope::WaypointNode::getConfigType ( )

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns: the type of this config.

◆ getJointAcceleration()

double arcs::aubo_scope::WaypointNode::getJointAcceleration ( )

Returns: the joint acceleration to use for the movement.

◆ getJointPositions()

std::vector< double > arcs::aubo_scope::WaypointNode::getJointPositions ( )

Returns: the joint positions corresponding to the pose of the robot (when taking the TCP offset into account)

◆ getJointSpeed()

double arcs::aubo_scope::WaypointNode::getJointSpeed ( )

Returns: the joint speed to be achieved.

◆ getMotionType()

MotionType arcs::aubo_scope::WaypointNode::getMotionType ( )

◆ getPose()

std::vector< double > arcs::aubo_scope::WaypointNode::getPose ( )

Returns: the waypoint position and orientation.

◆ getPositionDefinition()

PositionDefinition arcs::aubo_scope::WaypointNode::getPositionDefinition ( )

Cast this instance appropriately to have access to specific getters.

Returns: the position definition.

◆ getTcpOffset()

std::vector< double > arcs::aubo_scope::WaypointNode::getTcpOffset ( )

Returns: the pose for the TCP offset (used when defining the robot position)

◆ getTime()

double arcs::aubo_scope::WaypointNode::getTime ( )

Returns: the time for the waypoint movement.

◆ getToolAcceleration()

double arcs::aubo_scope::WaypointNode::getToolAcceleration ( )

Returns: the tool acceleration to use for the movement

◆ getToolSpeed()

double arcs::aubo_scope::WaypointNode::getToolSpeed ( )

Returns: the tool speed to be achieved.

◆ getVariable()

VariablePtr arcs::aubo_scope::WaypointNode::getVariable ( )

Returns: the variable for the waypoint.

◆ getVariableDefinition()

VariableDefinition arcs::aubo_scope::WaypointNode::getVariableDefinition ( )

Cast this instance appropriately to have access to specific getters.

Returns: the variable definition.

◆ setFixedPositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig ( )

Creates a fixed position configuration with default values for a waypoint.

Note that these default values may change between AuboScope versions.

Returns: the waypoint configuration.

◆ setFixedPositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setFixedPositionConfig	(	const std::vector< double > &	pose_including_tcp,
		const std::vector< double > &	qNear )

Creates a fixed position configuration for a waypoint with a defined pose.

Parameters

pose_including_tcp	the position and orientation for the waypoint, not `null`.
qNear	the joint positions that will be used for the inverse kinematics calculations as a robot configuration near the waypoint pose, not `null`.
blendParameters	the blend parameters for the waypoint, not `null`.
waypoint_motion_parameters	the motion parameters for the waypoint, not `null`.

Returns: the waypoint configuration.

◆ setJointMotionParameters()

void arcs::aubo_scope::WaypointNode::setJointMotionParameters	(	double	joint_speed,
		double	joint_acceleration )

Creates joint motion parameters for a waypoint.

Can be used for waypoints under a MoveJ.

Parameters

jointSpeed	the joint speed to be achieved, not `null`.
jointSpeedErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid joint speed value.
joint_acceleration	the joint acceleration to be used for the movement, not `null`.
joint_accelerationErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid joint acceleration value.

Returns: the joint motion parameters for the waypoint.

◆ setSharedMotionParameters()

void arcs::aubo_scope::WaypointNode::setSharedMotionParameters ( )

Creates shared motion parameters for a waypoint.

Can be used for waypoints under a MoveJ, MoveL or a MoveP.

Returns: the motion parameters for the waypoint.

◆ setTimeMotionParameters()

void arcs::aubo_scope::WaypointNode::setTimeMotionParameters ( unsigned int duration )

Creates time motion parameters for a waypoint.

Can be used for waypoints under a MoveJ or a MoveL.

Parameters

duration	the time the movement should take, not `null`.
errorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid time value.

Returns: the time motion parameters for the waypoint.

◆ setToolMotionParameters()

void arcs::aubo_scope::WaypointNode::setToolMotionParameters	(	double	tool_speed,
		double	tool_acceleration )

Creates tool motion parameters for a waypoint.

Can be used for waypoints under a MoveL or a MoveP.

Parameters

tool_speed	the tool speed to be achieved, not `null`.
tool_speedErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid tool speed value.
tool_acceleration	the tool acceleration to be used for the movement, not `null`.
tool_accelerationErrorHandler	error handler for handling validation. If using `ErrorHandler#AUTO_CORRECT` this will clamp the value to the nearest valid tool acceleration value.

Returns: the tool motion parameters for the waypoint.

◆ setVariablePositionConfig() [1/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig ( )

Creates a variable position configuration with default values for a waypoint

Note that these default values may change between AuboScope versions.

Returns: the waypoint configuration.

◆ setVariablePositionConfig() [2/2]

void arcs::aubo_scope::WaypointNode::setVariablePositionConfig ( VariablePtr variable )

Creates a variable position configuration for a waypoint with a defined variable.

Parameters

variable	the variable position and orientation for the waypoint, not `null`.
blendParameters	the blend parameters for the waypoint, not `null`.
waypoint_motion_parameters	the motion parameters for the waypoint, not `null`.

Returns: the waypoint configuration.

◆ DataSwitch

friend class DataSwitch

friend

Definition at line 409 of file waypoint_node.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

◆ d_

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

private

Definition at line 411 of file waypoint_node.h.

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

include/aubo_caps/domain/program/nodes/builtin/waypoint_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

◆ BlendType

◆ ConfigType

◆ MotionType

◆ PositionDefinition

◆ RelativeOffsetType

◆ RelativePositionType

◆ VariableDefinition

◆ VariableType

Constructor & Destructor Documentation

◆ WaypointNode() [1/3]

◆ WaypointNode() [2/3]

◆ ~WaypointNode()

◆ WaypointNode() [3/3]

Member Function Documentation

◆ getBlend()

◆ getBlendType()

◆ getConfigType()

◆ getJointAcceleration()

◆ getJointPositions()

◆ getJointSpeed()

◆ getMotionType()

◆ getPose()

◆ getPositionDefinition()

◆ getTcpOffset()

◆ getTime()

◆ getToolAcceleration()

◆ getToolSpeed()

◆ getVariable()

◆ getVariableDefinition()

◆ setFixedPositionConfig() [1/2]

◆ setFixedPositionConfig() [2/2]

◆ setJointMotionParameters()

◆ setSharedMotionParameters()

◆ setTimeMotionParameters()

◆ setToolMotionParameters()

◆ setVariablePositionConfig() [1/2]

◆ setVariablePositionConfig() [2/2]

Friends And Related Symbol Documentation

◆ DataSwitch

Member Data Documentation

◆ d_