grip_force_capability.h

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#ifndef AUBO_SCOPE_GRIP_FORCE_CAPABILITY_H
#define AUBO_SCOPE_GRIP_FORCE_CAPABILITY_H
 
#include <aubo_caps/class_forward.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(GripForceCapability);
 
/**
 * \chinese
 * 夹持力能力
 * 此接口表示夹爪已注册的力度能力，支持使用用户可配置的力度进行夹取。
 *
 * 通过此接口，可以在能力注册后调整力度的范围和默认值。这通常不适用于大多数夹爪，
 * 但当范围取决于另一个自定义夹爪设置（可由用户配置）时，这可能是相关的。
 * \endchinese
 * \english
 * GripForceCapability
 * This interface represents a registered force capability for a gripper which
 * supports gripping using a user configurable force.
 *
 * Through this interface, it is possible to adjust the range and default value
 * for the force after the capability has been registered. This is typically not
 * applicable for most grippers, but can be relevant when the range depends on
 * another custom gripper setting (which can be configured by the user).
 * \endenglish
 */
class GripForceCapability
{
public:
    virtual ~GripForceCapability() = 0;
 
    /**
     * <p>
     * Update the range and default value for the force supported by the
     * gripper.
     * </p>
     *
     * Updating the range could result in an already entered value in the
     * configuration of a gripper program node being outside the range. This
     * will make the given program node undefined, and force the end user to
     * adjust the value to be valid again.
     *
     * @param minForce minimum force supported by the gripper
     * @param maxForce maximum force supported by the gripper
     * @param defaultGripForce default value for the force for a grip action.
     * This value is used for, e.g. performing a "default" grip action using the
     * toolbar
     * @param unit the unit for all specified values, <code>null</code>
     * @throws InvalidCapabilityRange if <code>minForce</code> > <code>maxForce}
     * or <code>defaultGripForce</code> is outside the range defined by
     * <code>minForce</code> and <code>maxForce</code>
     */
    virtual void updateCapability(double minForce, double maxForce,
                                  double defaultGripForce) = 0;
};
} // namespace aubo_scope
} // namespace arcs
#endif