waypoint.h

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#ifndef AUBO_SCOPE_WAYPOINT_H
#define AUBO_SCOPE_WAYPOINT_H
 
#include <vector>
#include <string>
#include <aubo_caps/class_forward.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(Waypoint);
 
/**
 * @ingroup ProgramApi
 * \chinese
 * 路点接口
 * 此接口组合了定义机器人位置的参数。
 * \endchinese
 * \english
 * Waypoint
 * This interface composes parameters that define a position of the robot.
 * \endenglish
 */
class ARCS_ABI_EXPORT Waypoint
{
public:
    Waypoint(Waypoint &f);
    Waypoint(Waypoint &&f);
    ~Waypoint();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 获取路点显示名称
     * @return 显示名称。
     * \endchinese
     * \english
     * Returns the display name of the Waypoint.
     * @return Display name.
     * \endenglish
     */
    std::string getDisplayName();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 获取机器人位置的位姿（包含TCP偏移）
     * @return 位姿。
     * \endchinese
     * \english
     * Returns the pose for the position of the robot (including the TCP offset).
     * @return the pose for the position of the robot.
     * \endenglish
     */
    std::vector<double> getPose();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 获取与机器人位姿对应的关节位置（考虑TCP偏移）
     * @return 关节位置。
     * \endchinese
     * \english
     * Returns the joint positions corresponding to the pose of the robot (when
     * taking the TCP offset into account).
     * @return the joint positions.
     * \endenglish
     */
    std::vector<double> getJointPositions();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 获取TCP偏移位姿（用于定义机器人位置）
     * @return TCP偏移。
     * \endchinese
     * \english
     * Returns the pose for the TCP offset (used when defining the robot
     * position).
     * @return the TCP offset.
     * \endenglish
     */
    std::vector<double> getTcpOffset();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 检查路点是否已定义
     * @return 是否已定义。
     * \endchinese
     * \english
     * Returns whether the Waypoint is defined.
     * @return <code>true</code> if defined.
     * \endenglish
     */
    bool isDefined();
 
    /**
     * @ingroup Waypoint
     * \chinese
     * 获取哈希码
     * @return 哈希码。
     * \endchinese
     * \english
     * Returns the hash code of the Waypoint.
     * @return the hash code.
     * \endenglish
     */
    size_t hashCode();
 
private:
    friend class DataSwitch;
    Waypoint();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // AUBO_SCOPE_WAYPOINT_H