1 #ifndef AUBO_SCOPE_WAYPOINT_NODE_H 2 #define AUBO_SCOPE_WAYPOINT_NODE_H 199 double getJointSpeed();
204 double getJointAcceleration();
214 double getToolSpeed();
219 double getToolAcceleration();
224 std::vector<double> getPose();
230 std::vector<double> getJointPositions();
236 std::vector<double> getTcpOffset();
241 VariablePtr getVariable();
252 void setSharedMotionParameters();
267 void setTimeMotionParameters(
unsigned int duration);
287 void setJointMotionParameters(
double joint_speed,
288 double joint_acceleration);
308 void setToolMotionParameters(
double tool_speed,
double tool_acceleration);
320 void setFixedPositionConfig();
339 void setFixedPositionConfig(
const std::vector<double> &pose_including_tcp,
340 const std::vector<double> &qNear);
352 void setVariablePositionConfig();
366 void setVariablePositionConfig(VariablePtr variable);
369 friend class DataSwitch;
376 #endif // AUBO_SCOPE_WAYPOINT_NODE_H ARCS_CLASS_FORWARD(GripForceCapability)
BlendType
The blend parameters type used to determine which type of blend parameters this instance is...
MotionType
The blend parameters type used to determine which type of blend parameters this instance is...
A variable has not been selected.
Shared blend has been selected.
ConfigType
The configuration type used to determine which type of configuration this instance is...