move_node.h

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#ifndef AUBO_SCOPE_MOVE_NODE_H
#define AUBO_SCOPE_MOVE_NODE_H
 
#include <aubo_caps/domain/program/nodes/program_node.h>
#include <aubo_caps/domain/feature/feature.h>
#include <aubo_caps/domain/tcp/tcp.h>
#include <aubo_caps/domain/variable/feature_variable.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(MoveNode);
 
class ARCS_ABI_EXPORT MoveNode : public ProgramNode
{
public:
    enum ConfigType : int
    {
 
        /**
         * <p>
         * Movement type is MoveJ.
         * </p>
         *
         * The config instance can be cast to {@link MoveJMoveNodeConfig}.
         */
        MOVE_J = 0,
 
        /**
         * <p>
         * Movement type is MoveL.
         * </p>
         *
         * The config instance can be cast to {@link MoveLMoveNodeConfig}.
         */
        MOVE_L,
 
        MOVE_S,
    };
 
    enum TcpSelectionType : int
    {
 
        /**
         * Motions are adjusted to the currently active TCP. The TCP is
         * determined during runtime of the program.
         */
        USE_ACTIVE_TCP = 0,
 
        /**
         * No TCP is used and the motion under this Move command will be with
         * respect to the tool output flange.
         */
        IGNORE_ACTIVE_TCP,
 
        /**
         * A specific TCP is selected. <br>
         * The TCPSelection instance can be cast to {@link MoveNodeTCP}.
         */
        MOVE_TCP
    };
 
    enum FeatureSelectionType : int
    {
        /**
         * The selected feature is no longer available (e.g. because the user
         * has removed the feature in the Installation or the needed
         * Installation is not currently loaded)
         */
        UNRESOLVED_FEATURE,
 
        /**
         * Feature is selected.
         * The Selection instance can be cast to {@link MoveNodeFeature}
         */
        FEATURE
    };
 
    MoveNode(MoveNode &f);
    MoveNode(MoveNode &&f);
    virtual ~MoveNode();
 
    /**
     * \chinese
     * 返回配置类型。适当转换此实例以访问特定的 getter。
     * @return 此配置的类型
     * \endchinese
     * \english
     * This method returns the type of configuration. Cast this instance
     * appropriately to have access to specific getters.
     * @return the type of this config.
     * \endenglish
     */
    ConfigType getConfigType();
    void setConfigType(ConfigType type);
 
    bool getUseJoints();
    void setUseJoints(bool use);
 
    /**
     * \chinese
     * <p>为 MoveJ 配置设置关节速度参数。</p>
     * 该参数适用于机械臂从上一个位置经过 Move 节点下的路点的运动。
     *
     * @param joint_speed 要达到的共享关节速度
     * \endchinese
     * \english
     * <p>Set joint speed parameter for the MoveJ configuration.</p>
     * The parameter applies to the movement of the robot arm, from the previous
     * position through the waypoints under the Move node.
     *
     * @param joint_speed The shared joint speed to be achieved.
     * \endenglish
     */
    void setJointSpeed(double joint_speed);
    double getJointSpeed();
 
    /**
     * \chinese
     * <p>为 MoveJ 配置设置关节加速度参数。</p>
     * 该参数适用于机械臂从上一个位置经过 Move 节点下的路点的运动。
     * @param joint_acceleration 要使用的共享关节加速度
     * \endchinese
     * \english
     * <p>Set joint acceleration parameter for the MoveJ configuration.</p>
     * The parameter applies to the movement of the robot arm, from the previous
     * position through the waypoints under the Move node.
     * @param joint_acceleration The shared joint acceleration to be used.
     * \endenglish
     */
    void setJointAcceleration(double joint_acceleration);
    double getJointAcceleration();
 
    /**
     * \chinese
     * <p>为 MoveJ 配置设置 TCP 选择。</p>
     * <p>在执行机械臂运动之前，TCP 将被设置为活动 TCP。</p>
     * @param tcp_selection 要应用的 TCP 设置
     * \endchinese
     * \english
     * <p>Set the TCP selection for the MoveJ configuration.</p>
     * <p>The TCP will be set as the active TCP before the movement of the robot
     * arm is performed.</p>
     * @param tcp_selection The TCP setting to be applied.
     * \endenglish
     */
    void setTCPSelection(TCPPtr tcp_selection);
    TCPPtr getTCPSelection();
 
    /**
     * \chinese
     * <p>为 MoveL 配置设置工具速度参数。</p>
     * 该参数适用于机械臂从上一个位置经过 Move 节点下的路点的运动。
     * @param tool_speed 要达到的共享工具速度
     * \endchinese
     * \english
     * <p>Set tool speed parameter for the MoveL configuration.</p>
     * The parameter applies to the movement of the robot arm, from the previous
     * position through the waypoints under the Move node.
     * @param tool_speed The shared tool speed to be achieved.
     * \endenglish
     */
    void setToolSpeed(double tool_speed);
    double getToolSpeed();
 
    /**
     * \chinese
     * <p>为 MoveL 配置设置工具加速度参数。</p>
     * 该参数适用于机械臂从上一个位置经过 Move 节点下的路点的运动。
     * @param tool_acceleration 要使用的共享工具加速度
     * \endchinese
     * \english
     * <p>Set tool acceleration parameter for the MoveL configuration.</p>
     * The parameter applies to the movement of the robot arm, from the previous
     * position through the waypoints under the Move node.
     * @param tool_acceleration The shared tool acceleration to be used.
     * \endenglish
     */
    void setToolAcceleration(double tool_acceleration);
    double getToolAcceleration();
 
    /**
     * \chinese
     * <p>为 MoveL 配置设置坐标系。</p>
     * 该坐标系将用于机械臂从上一个位置经过 Move 节点下的路点的运动。
     * @param feature 此运动的共享坐标系
     * \endchinese
     * \english
     * <p>Set feature for the MoveL configuration.</p>
     * The feature will be used for the movement of the robot arm, from the
     * previous position through the waypoints under the Move node.
     * @param feature The shared feature for this movement.
     * \endenglish
     */
    void setFeature(FeaturePtr feature);
    void setFeature(FeatureVariablePtr feature_variable);
    FeaturePtr getFeature();
 
    /**
     * \chinese
     * <p>为 MoveP 配置设置交融参数。</p>
     * 交融参数将用于机械臂运动中所有路点之间的过渡。
     * @param blend 此 Move 节点运动中使用的共享交融值
     * \endchinese
     * \english
     * <p>Set the blend parameter for the MoveP configuration.</p>
     * The blend parameter will be used between all waypoints in the movement of
     * the robot arm.
     * @param blend The shared blend used in the motion of this Move node.
     * \endenglish
     */
    void setBlend(double blend);
    double getBlend();
 
    void setTcpSelectionType(TcpSelectionType type);
    TcpSelectionType getTcpSelectionType();
 
private:
    friend class DataSwitch;
    MoveNode();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
#endif // AUBO_SCOPE_MOVE_NODE_H