1 #ifndef AUBO_SCOPE_WAYPOINT_NODE_H 2 #define AUBO_SCOPE_WAYPOINT_NODE_H 200 double getJointSpeed();
205 double getJointAcceleration();
215 double getToolSpeed();
220 double getToolAcceleration();
225 std::vector<double> getPose();
231 std::vector<double> getJointPositions();
237 std::vector<double> getTcpOffset();
242 VariablePtr getVariable();
253 void setSharedMotionParameters();
268 void setTimeMotionParameters(
unsigned int duration);
288 void setJointMotionParameters(
double joint_speed,
289 double joint_acceleration);
309 void setToolMotionParameters(
double tool_speed,
double tool_acceleration);
321 void setFixedPositionConfig();
340 void setFixedPositionConfig(
const std::vector<double> &pose_including_tcp,
341 const std::vector<double> &qNear);
353 void setVariablePositionConfig();
367 void setVariablePositionConfig(VariablePtr variable);
370 friend class DataSwitch;
377 #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...