1 #ifndef AUBO_SCOPE_SCRIPT_WRITER_H 2 #define AUBO_SCOPE_SCRIPT_WRITER_H 10 namespace aubo_scope {
23 void setLable(
int lineno,
const std::string &comment);
30 void appendLine(
const std::string &script_line);
31 void appendVectorDouble(
const std::vector<double> &value);
39 void appendRaw(
const std::string &script);
46 std::string generateScript();
70 void assign(VariablePtr variable,
const std::string &expression);
79 void assign(
const std::string &variableName,
80 const ExpressionPtr &expression);
87 void assign(VariablePtr variable,
const ExpressionPtr &expression);
94 void incrementVariable(
const std::string &variable_name);
101 void note(
const std::string &expression);
108 void sleep(
double seconds);
119 void defineFunction(
const std::string &func_name);
120 void anonyFunction(
const std::string &func_name);
151 void setPayload(
double mass,
double x,
double y,
double z);
168 void setTcp(
const std::vector<double> &pose);
176 void ifCondition(
const ExpressionPtr &expression);
183 void ifNotCondition(
const ExpressionPtr &expression);
190 void elseIfCondition(
const ExpressionPtr &expression);
196 void elseCondition();
204 void forCondition(
int count,
int step);
217 void whileCondition(
const ExpressionPtr &expression);
224 void whileNot(
const ExpressionPtr &expression);
232 void defineThread(
const std::string &thread_name,
bool loop_or_not);
239 void runThread(
const std::string &thread_name);
245 void killThread(
const std::string &thread_name);
272 std::string getResolvedVariable(
const std::string &variable_name);
274 void increaseIndent();
275 void decreaseIndent();
278 friend class DataSwitch;
286 #endif // AUBO_SCOPE_SCRIPT_WRITER_H ARCS_CLASS_FORWARD(GripForceCapability)
This interface provides support for generating Script code.