A Gantry represents a physical gantry and can be used for controlling gantries of N axes. More...

#include "components/gantry.hpp"

Inheritance diagram for viam::sdk::Gantry:

Classes
struct	movement_coordinate
	A coordinate for moving a single axis of a gantry to a desired position at a requested speed. More...

Public Member Functions
std::vector< double >	get_position ()
	Get the positions of the axes of the gantry in millimeters.

virtual std::vector< double >	get_position (const ProtoStruct &extra)=0
	Get the positions of the axes of the gantry in millimeters.

void	move_to_position (const std::vector< movement_coordinate > &coordinates)
	Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

virtual void	move_to_position (const std::vector< movement_coordinate > &coordinates, const ProtoStruct &extra)=0
	Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

bool	home ()
	Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

virtual bool	home (const ProtoStruct &extra)=0
	Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

std::vector< double >	get_lengths ()
	Get the lengths of the axes of the gantry in millimeters.

virtual std::vector< double >	get_lengths (const ProtoStruct &extra)=0
	Get the lengths of the axes of the gantry in millimeters.

virtual bool	is_moving ()=0
	Reports if the gantry is in motion.

virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling gantry.

virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns `GeometryConfig`s associated with the calling gantry.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

Public Member Functions inherited from viam::sdk::Stoppable
virtual void	stop (const ProtoStruct &extra)=0
	Stops a resource from running.

void	stop ()
	Stops a resource from running.

Protected Member Functions
	Component ()

	Component (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

Detailed Description

A Gantry represents a physical gantry and can be used for controlling gantries of N axes.

This acts as an abstract parent class to be inherited from by any drivers representing specific arm implementations. This class cannot be used on its own.

Member Function Documentation

◆ api()

API viam::sdk::Gantry::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ do_command()

virtual ProtoStruct viam::sdk::Gantry::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implemented in viam::sdk::impl::GantryClient.

◆ get_geometries()

virtual std::vector< GeometryConfig > viam::sdk::Gantry::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling gantry.

Parameters

extra Any additional arguments to the method

Implemented in viam::sdk::impl::GantryClient, and viam::sdk::impl::GantryClient.

◆ get_lengths()

virtual std::vector< double > viam::sdk::Gantry::get_lengths ( const ProtoStruct & extra )

pure virtual

Get the lengths of the axes of the gantry in millimeters.

Parameters

extra Any additional arguments to the method

Implemented in viam::sdk::impl::GantryClient, and viam::sdk::impl::GantryClient.

◆ get_position()

virtual std::vector< double > viam::sdk::Gantry::get_position ( const ProtoStruct & extra )

pure virtual

Get the positions of the axes of the gantry in millimeters.

Parameters

extra Any additional arguments to the method

Implemented in viam::sdk::impl::GantryClient, and viam::sdk::impl::GantryClient.

◆ home() [1/2]

bool viam::sdk::Gantry::home ( )

inline

Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

Returns: Whether the gantry has run the homing sequence successfully.

◆ home() [2/2]

virtual bool viam::sdk::Gantry::home ( const ProtoStruct & extra )

pure virtual

Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

Parameters

extra Any additional arguments to the method

Returns: Whether the gantry has run the homing sequence successfully.

Implemented in viam::sdk::impl::GantryClient, and viam::sdk::impl::GantryClient.

◆ is_moving()

virtual bool viam::sdk::Gantry::is_moving ( )

pure virtual

Reports if the gantry is in motion.

Implemented in viam::sdk::impl::GantryClient.

◆ move_to_position() [1/2]

void viam::sdk::Gantry::move_to_position ( const std::vector< movement_coordinate > & coordinates )

inline

Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

Parameters

coordinates A vector whose entries represent the position and speed pairs for each axis.

◆ move_to_position() [2/2]

virtual void viam::sdk::Gantry::move_to_position	(	const std::vector< movement_coordinate > &	coordinates,
		const ProtoStruct &	extra )

pure virtual

Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

Parameters

coordinates	A vector whose entries represent the position and speed pairs for each axis.
extra	Any additional arguments to the method

Implemented in viam::sdk::impl::GantryClient, and viam::sdk::impl::GantryClient.

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

src/viam/sdk/components/gantry.hpp

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ api()

◆ do_command()

◆ get_geometries()

◆ get_lengths()

◆ get_position()

◆ home() [1/2]

◆ home() [2/2]

◆ is_moving()

◆ move_to_position() [1/2]

◆ move_to_position() [2/2]