set_payload_node.h

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#ifndef AUBO_SCOPE_SET_PAYLOAD_NODE_H
#define AUBO_SCOPE_SET_PAYLOAD_NODE_H
 
#include <vector>
#include <aubo_caps/domain/program/nodes/program_node.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(SetPayloadNode);
 
class ARCS_ABI_EXPORT SetPayloadNode : public ProgramNode
{
public:
    /**
     * This base interface represents a configuration of the Set Payload program
     * node (i.e. a {@link SetPayloadNode}
     * instance).
     */
    enum ConfigType
    {
        /**
         * <p>
         * A payload (from the installation) is selected.
         * </p>
         *
         * The config instance can be cast to {@link
         * SelectionPayloadNodeConfig}.
         */
        PAYLOAD_SELECTION,
 
        /**
         * <p>
         * Custom payload parameters are specified.
         * </p>
         *
         * The config instance can be cast to {@link
         * CustomParametersPayloadNodeConfig}.
         */
        CUSTOM_PARAMETERS
    };
 
    SetPayloadNode(SetPayloadNode &f);
    SetPayloadNode(SetPayloadNode &&f);
    virtual ~SetPayloadNode();
 
    /**
     * \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);
 
    /**
     * \chinese
     * @return 负载的总质量
     * \endchinese
     * \english
     * @return The total mass of the payload
     * \endenglish
     */
    double getMass();
    void setMass(double mass);
 
    /**
     * \chinese
     * 获取负载的重心（CoG）。它定义为工具输出法兰中心与附着负载重心之间的偏移量。
     * @return 相对于工具输出法兰中心的负载重心（CoG）
     * \endchinese
     * \english
     * Gets the payload's center of gravity (CoG), also referred to as center of
     * mass. It is defined as the offset between the center of the tool output
     * flange and the center of gravity of the attached payload.
     * @return The center of gravity (CoG) of the payload relative to the center
     * of the tool output flange
     * \endenglish
     */
    std::vector<double> getCenterOfGravity();
    void setCenterOfGravity(const std::vector<double> &cog);
 
private:
    friend class DataSwitch;
    SetPayloadNode();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
#endif // AUBO_SCOPE_SET_PAYLOAD_NODE_H