Robot::RobotObject Class Reference

#include <RobotObject.h>

Inheritance diagram for Robot::RobotObject:

Public Member Functions
virtual App::DocumentObjectExecReturn *	execute (void)
	get called by the document to recompute this feature Normaly this method get called in the processing of Document::recompute().
virtual PyObject *	getPyObject (void)
	This method returns the Python wrapper for a C++ object.
Robot6Axis &	getRobot (void)
virtual Base::Type	getTypeId (void) const
virtual const char *	getViewProviderName (void) const
	returns the type name of the ViewProvider
virtual short	mustExecute (void) const
	mustExecute We call this method to check if the object was modified to be invoked.
virtual void	Restore (Base::XMLReader &)
	This method is used to restore properties from an XML document.
	RobotObject (void)
	Constructor.
virtual void	Save (Base::Writer &) const
	This method is used to save properties to an XML document.
virtual	~RobotObject ()
Static Public Member Functions
static void *	create (void)
static Base::Type	getClassTypeId (void)
static void	init (void)
Public Attributes
App::PropertyFloat	Axis1
App::PropertyFloat	Axis2
App::PropertyFloat	Axis3
App::PropertyFloat	Axis4
App::PropertyFloat	Axis5
App::PropertyFloat	Axis6
App::PropertyPlacement	Base
App::PropertyString	Error
App::PropertyFloatList	Home
App::PropertyFileIncluded	RobotKinematicFile
App::PropertyFileIncluded	RobotVrmlFile
App::PropertyPlacement	Tcp
App::PropertyPlacement	Tool
App::PropertyPlacement	ToolBase
App::PropertyLink	ToolShape
Protected Member Functions
virtual const App::PropertyData &	getPropertyData (void) const
virtual void	onChanged (const App::Property *prop)
	get called by the container when a property has changed
Static Protected Member Functions
static const App::PropertyData *	getPropertyDataPtr (void)
Protected Attributes
bool	block
Robot6Axis	robot

Detailed Description

Definition at line 37 of file RobotObject.h.

Constructor & Destructor Documentation

RobotObject::RobotObject ( void )

Constructor.

Definition at line 42 of file RobotObject.cpp.

References ADD_PROPERTY_TYPE, Error(), and App::Prop_None.

RobotObject::~RobotObject ( ) [virtual]

Definition at line 66 of file RobotObject.cpp.

Member Function Documentation

void * Robot::RobotObject::create ( void ) [static]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

virtual App::DocumentObjectExecReturn* Robot::RobotObject::execute ( void ) [inline, virtual]

get called by the document to recompute this feature Normaly this method get called in the processing of Document::recompute().

In execute() the outpupt properties get recomputed with the data from linked objects and objects own properties.

Reimplemented from App::DocumentObject.

Definition at line 50 of file RobotObject.h.

References App::DocumentObject::StdReturn.

Base::Type Robot::RobotObject::getClassTypeId ( void ) [static]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

Referenced by CmdRobotInsertWaypoint::activated(), CmdRobotAddToolShape::activated(), CmdRobotExportKukaFull::activated(), and CmdRobotExportKukaCompact::activated().

const App::PropertyData & Robot::RobotObject::getPropertyData ( void ) const [protected, virtual]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

const App::PropertyData * Robot::RobotObject::getPropertyDataPtr ( void ) [static, protected]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

PyObject * RobotObject::getPyObject ( void ) [virtual]

This method returns the Python wrapper for a C++ object.

It's in the responsibility of the programmer to do the correct reference counting. Basically there are two ways how to implement that: Either always return a new Python object then reference counting is not a matter or return always the same Python object then the reference counter must be incremented by one. However, it's absolutely forbidden to return always the same Python object without incrementing the reference counter.

The default implementation returns 'None'.

Reimplemented from App::DocumentObject.

Definition at line 75 of file RobotObject.cpp.

References Py::_None(), Py::Object::is(), Py::new_reference_to(), and App::DocumentObject::PythonObject.

Robot6Axis& Robot::RobotObject::getRobot ( void ) [inline]

Definition at line 59 of file RobotObject.h.

Referenced by RobotGui::TaskRobot6Axis::setRobot().

Base::Type Robot::RobotObject::getTypeId ( void ) const [virtual]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

virtual const char* Robot::RobotObject::getViewProviderName ( void ) const [inline, virtual]

returns the type name of the ViewProvider

Reimplemented from App::DocumentObject.

Definition at line 47 of file RobotObject.h.

void Robot::RobotObject::init ( void ) [static]

Reimplemented from App::PropertyContainer.

Definition at line 39 of file RobotObject.cpp.

Referenced by initRobot().

short RobotObject::mustExecute ( void ) const [virtual]

mustExecute We call this method to check if the object was modified to be invoked.

If the object label or an argument is modified. If we must recompute the object - to call the method execute(). 0: no recompution is needed 1: recompution needed -1: the document examine all links of this object and if one is touched -> recompute

Reimplemented from App::DocumentObject.

Definition at line 70 of file RobotObject.cpp.

void RobotObject::onChanged ( const App::Property * prop ) [protected, virtual]

get called by the container when a property has changed

Reimplemented from App::DocumentObject.

Definition at line 85 of file RobotObject.cpp.

References Axis1, Axis2, Axis3, Axis4, Axis5, Axis6, block, Robot::Robot6Axis::getAxis(), Robot::Robot6Axis::getTcp(), App::PropertyPlacement::getValue(), App::PropertyFloat::getValue(), App::PropertyFileIncluded::getValue(), Robot::Robot6Axis::readKinematic(), robot, RobotKinematicFile, Robot::Robot6Axis::setAxis(), Robot::Robot6Axis::setTo(), App::PropertyFloat::setValue(), App::PropertyPlacement::setValue(), and Tcp.

void RobotObject::Restore ( Base::XMLReader & ) [virtual]

This method is used to restore properties from an XML document.

It uses the XMLReader class, which bases on SAX, to read the in Save() written information. Again the Vector as an example:

 void PropertyVector::Restore(Base::XMLReader &reader)
 {
   // read my Element
   reader.readElement("PropertyVector");
   // get the value of my Attribute
   _cVec.x = (float)reader.getAttributeAsFloat("valueX");
   _cVec.y = (float)reader.getAttributeAsFloat("valueY");
   _cVec.z = (float)reader.getAttributeAsFloat("valueZ");
 }

Reimplemented from App::PropertyContainer.

Definition at line 149 of file RobotObject.cpp.

References Axis1, Axis2, Axis3, Axis4, Axis5, Axis6, block, Robot::Robot6Axis::getTcp(), App::PropertyPlacement::getValue(), App::PropertyFloat::getValue(), Robot::Robot6Axis::Restore(), robot, Robot::Robot6Axis::setAxis(), Robot::Robot6Axis::setTo(), App::PropertyPlacement::setValue(), and Tcp.

void RobotObject::Save ( Base::Writer & ) const [virtual]

This method is used to save properties to an XML document.

A good example you'll find in PropertyStandard.cpp, e.g. the vector:

  void PropertyVector::Save (Writer &writer) const
  {
     writer << writer.ind() << "<PropertyVector valueX=\"" <<  _cVec.x <<
                                            "\" valueY=\"" <<  _cVec.y <<
                                            "\" valueZ=\"" <<  _cVec.z <<"\"/>" << endl;
  }

The writer.ind() expression writes the indention, just for pretty printing of the XML. As you see, the writing of the XML document is not done with a DOM implementation because of performance reasons. Therefore the programmer has to take care that a valid XML document is written. This means closing tags and writing UTF-8.