ToolConfiguration.md

class ToolConfiguration

Member values

Member name	Data type	Description
tool_transform	CartesianTransform	Cartesian transform tool
tool_mass	float32	Tool mass (in kg)
tool_mass_center	Position	Tool mass center position relative to the interface module reference frame

Member functions

Function name	Return type	Input type	Description
has_tool_transform() const	bool	void	Returns true if tool_transform is set.
tool_transform()	const CartesianTransform&	void	Returns the current value of tool_transform. If tool_transform is not set, returns a CartesianTransform with none of its fields set (possibly tool_transform::default_instance()).
mutable_tool_transform()	CartesianTransform *	void	Returns a pointer to the mutable CartesianTransform object that stores the field's value. If the field was not set prior to the call, then the returned CartesianTransform will have none of its fields set (i.e. it will be identical to a newly-allocated CartesianTransform). After calling this, has_tool_transform() will return true and tool_transform() will return a reference to the same instance of CartesianTransform.
clear_tool_transform()	void	void	Clears the value of the field. After calling this, has_tool_transform() will return false and tool_transform() will return the default value.
set_allocated_tool_transform()	void	CartesianTransform *	Sets the CartesianTransform object to the field and frees the previous field value if it exists. If the CartesianTransform pointer is not NULL, the message takes ownership of the allocated CartesianTransform object and has_ CartesianTransform() will return true. Otherwise, if the tool_transform is NULL, the behavior is the same as calling clear_tool_transform().
release_tool_transform()	CartesianTransform *	void	Releases the ownership of the field and returns the pointer of the CartesianTransform object. After calling this, caller takes the ownership of the allocated CartesianTransform object, has_tool_transform() will return false, and tool_transform() will return the default value.
tool_mass()	float32	void	Returns the current value of tool_mass. If the tool_mass is not set, returns 0.
set_tool_mass()	void	float32	Sets the value of tool_mass. After calling this, tool_mass() will return value.
clear_tool_mass()	void	void	Clears the value of tool_mass. After calling this, tool_mass() will return 0.
has_tool_mass_center() const	bool	void	Returns true if tool_mass_center is set.
tool_mass_center()	const Position&	void	Returns the current value of tool_mass_center. If tool_mass_center is not set, returns a Position with none of its fields set (possibly tool_mass_center::default_instance()).
mutable_tool_mass_center()	Position *	void	Returns a pointer to the mutable Position object that stores the field's value. If the field was not set prior to the call, then the returned Position will have none of its fields set (i.e. it will be identical to a newly-allocated Position). After calling this, has_tool_mass_center() will return true and tool_mass_center() will return a reference to the same instance of Position.
clear_tool_mass_center()	void	void	Clears the value of the field. After calling this, has_tool_mass_center() will return false and tool_mass_center() will return the default value.
set_allocated_tool_mass_center()	void	Position *	Sets the Position object to the field and frees the previous field value if it exists. If the Position pointer is not NULL, the message takes ownership of the allocated Position object and has_ Position() will return true. Otherwise, if the tool_mass_center is NULL, the behavior is the same as calling clear_tool_mass_center().
release_tool_mass_center()	Position *	void	Releases the ownership of the field and returns the pointer of the Position object. After calling this, caller takes the ownership of the allocated Position object, has_tool_mass_center() will return false, and tool_mass_center() will return the default value.

Parent topic: ControlConfig (C++)