InterRobotOperation Class Reference

The inter-robot operation corresponding to the workpiece/weldment handling. More...

#include <RoboticLine.h>

Collaboration diagram for InterRobotOperation:

Public Member Functions
	InterRobotOperation (uint32_t oid, Activity *out, Activity *in, const ProjectParameters &par)
	It creates the inter-robot operation according the desired parameters stated in ProjectParameters data-structure. More...
uint32_t	oid () const
std::string	name () const
void	name (const std::string &name)
std::vector< TimeLag >	timeLags () const
void	timeLags (const std::vector< TimeLag > &timeLags)
std::vector< Pair >	spatialCompatibility () const

Private Member Functions
void	generateSpatialCompatibilityPairs (Activity *a1, Activity *a2)
	It is an auxiliary method for the constructor that helps to generate the compatibility pairs. More...

Private Attributes
uint32_t	mOid
	Integer identification of the inter-robot operation.
std::string	mName
	The name of the inter-robot operation.
std::vector< TimeLag >	mTimeLags
	Time lags ensuring the correct time synchronization between robots.
std::vector< Pair >	mSpatialCompatibility
	Spatial compatibility pairs, i.e. a handover takes place at the right location for both involved robots.

Detailed Description

The inter-robot operation corresponding to the workpiece/weldment handling.

The class corresponds to the inter-robot operation, e.g. a workpiece/weldment passing. It incorporates time lags and spatial compatibility pairs that are necessary for the correct synchronisation between robots.

Note

Thanks to the time lags and compatibility pairs it is possible to model even more complex operations than there are currently modelled.

Definition at line 512 of file RoboticLine.h.

Constructor & Destructor Documentation

InterRobotOperation::InterRobotOperation	(	uint32_t	oid,
		Activity *	out,
		Activity *	in,
		const ProjectParameters &	par
	)

It creates the inter-robot operation according the desired parameters stated in ProjectParameters data-structure.

Parameters

oid	Integer identification of the operation.
out	The activity corresponds to the putting a weldment/workpiece on the bench or handing it over to another robot.
in	The activity corresponds to the getting a workpiece/weldment from the bench or another robot.
par	Parameters used for the generation of the inter-robot operation.

Definition at line 339 of file RoboticLine.cpp.

Member Function Documentation

void InterRobotOperation::generateSpatialCompatibilityPairs ( Activity *  a1, Activity *  a2  )

private

It is an auxiliary method for the constructor that helps to generate the compatibility pairs.

Parameters

a1,a2

Two activities between which the spatial compatibility must be met.

Definition at line 368 of file RoboticLine.cpp.

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

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