class PayloadInformation

Member values

Member name	Data type	Description
payload_mass	float32	Tool mass in kg
payload_mass_center	Position	Tool mass center position relative to the tool reference frame

Member functions

Function name	Return type	Input type	Description
payload_mass()	float32	void	Returns the current value of payload_mass. If the payload_mass is not set, returns 0.
set_payload_mass()	void	float32	Sets the value of payload_mass. After calling this, payload_mass() will return value.
clear_payload_mass()	void	void	Clears the value of payload_mass. After calling this, payload_mass() will return 0.
has_payload_mass_center() const	bool	void	Returns true if payload_mass_center is set.
payload_mass_center()	const Position&	void	Returns the current value of payload_mass_center. If payload_mass_center is not set, returns a Position with none of its fields set (possibly payload_mass_center::default_instance()).
mutable_payload_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_payload_mass_center() will return true and payload_mass_center() will return a reference to the same instance of Position.
clear_payload_mass_center()	void	void	Clears the value of the field. After calling this, has_payload_mass_center() will return false and payload_mass_center() will return the default value.
set_allocated_payload_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 payload_mass_center is NULL, the behavior is the same as calling clear_payload_mass_center().
release_payload_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_payload_mass_center() will return false, and payload_mass_center() will return the default value.

Parent topic: ControlConfig (C++)