Location Class Reference

Location of the robot used either during work (welding) or waiting. More...

#include <RoboticLine.h>

Inheritance diagram for Location:

Collaboration diagram for Location:

Public Member Functions
	Location (const uint32_t &lid=0)
virtual uint32_t	id () const
uint32_t	lid () const
uint32_t	point () const
std::vector< LocationDependentPowerConsumption >	locationDependentPowerConsumption () const
std::vector< Movement * >	enteringMovements () const
std::vector< Movement * >	leavingMovements () const
double	inputPower (RobotPowerMode *m) const
double	energyConsumption (const double &duration, RobotPowerMode *m) const
StaticActivity *	parent () const
virtual Activity *	baseParent () const

Private Member Functions
void	lid (const uint32_t &lid)
void	point (const uint32_t &point)
void	addLocationDependentPowerConsumption (const LocationDependentPowerConsumption &ldpc)
void	enteringMovements (const std::vector< Movement * > &enteringMovements)
void	leavingMovements (const std::vector< Movement * > &leavingMovements)
void	parent (StaticActivity *parent)

Private Attributes
uint32_t	mLid
	Identification of this location.
uint32_t	mPoint
std::vector< LocationDependentPowerConsumption >	mLocationDependentPowerConsumption
std::vector< Movement * >	mEnteringMovements
	The movements entering to this location.
std::vector< Movement * >	mLeavingMovements
	The movements leaving from this location.
StaticActivity *	mParent
	A parent of the location, i.e. static activity.

Friends
class	XmlReader
	Enable an instance of XmlReader class to set member variables.
class	StaticActivity
	Enable a static activity to declare its relation to the location.

Detailed Description

Location of the robot used either during work (welding) or waiting.

The instance of the class corresponds to a robot configuration, in which the robot can perform an operation on the workpiece/weldment. Even though the class is called Location, it represents not only the absolute coordinates of the operation but also orientation of the gun/gripper of the robot.

Definition at line 192 of file RoboticLine.h.

Member Function Documentation

double Location::energyConsumption	(	const double &	duration,
		RobotPowerMode *	m
	)		const

Parameters

duration	How long the robot is stationary.
m	Power saving mode of the robot.

Returns

Energy consumption of the stationary robot for the given duration.

Definition at line 56 of file RoboticLine.cpp.

double Location::inputPower

(

RobotPowerMode *

m

)

const

Parameters

m	Power saving mode of the robot.

Returns

Input power of the robot.

Definition at line 41 of file RoboticLine.cpp.

Member Data Documentation

std::vector<LocationDependentPowerConsumption> Location::mLocationDependentPowerConsumption

private

The power consumption of a stationary robot may also depend on its position, e.g. if the robot is held by its motors, and therefore, the vector mLocationDependentPowerConsumption defines the input power of the robot for these specific cases.

Definition at line 240 of file RoboticLine.h.

uint32_t Location::mPoint

private

A unique number representing a coordinate of the location. The optimization problem does not need exact coordinates since they are already incorporated in the energy functions.

Definition at line 234 of file RoboticLine.h.

---

The documentation for this class was generated from the following files:

• /home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/inc/RoboticLine.h
• /home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/src/RoboticLine.cpp