Method class to create, unload and specify target locations. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_TOOLPATH_TARGETS:

Static Public Member Functions
static DLLAPI long ER_STDCALL	erTargetLocationReset (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Reset Target location to default values Remarks The target location is marked as invalid. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...

static DLLAPI int ER_STDCALL	erAddTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd)
	Add a new target location to a tool path Remarks The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...

static DLLAPI int ER_STDCALL	erInsertTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd, ER_TARGET_LOCATION_HND er_tarloc_hnd_ref=NULL)
	Insert a new target location to a tool path before an existing target location Remarks The new target location is inserted before the target location with handle `er_tarloc_hnd_ref`. If parameter `er_tarloc_hnd_ref` is NULL, the new target location is appended, see erAddTargetLocation(). The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path. See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status. More...

static DLLAPI int ER_STDCALL	erUnloadTargetLocation (ER_TARGET_LOCATION_HND *er_tarloc_hnd)
	Unload/delete a target location from a tool path Remarks Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path. More...

static DLLAPI int ER_STDCALL	erSwapTargetLocation (ER_TARGET_LOCATION_HND er_tarloc_hnd1, ER_TARGET_LOCATION_HND er_tarloc_hnd2)
	Swap the order of two target location in a tool path Remarks Both target location handle must be in the same tool path. Use erGetTargetLocationIdx() to get the belonging index for each target location. More...

static DLLAPI int ER_STDCALL	erGetTargetLocationIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Index of target location in a tool path. More...

static DLLAPI char *ER_STDCALL	erGetTargetLocationName (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Name of target location in a tool path. More...

static DLLAPI char *ER_STDCALL	erGetTargetLocationNameVia (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Name of target Via location in a tool path, in case of circular motion. More...

static DLLAPI int ER_STDCALL	erGetTargetLocationNumber (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Number of target locations in a tool path. More...

static DLLAPI ER_HND ER_STDCALL	erhGetTargetLocationER_HND (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Device handle belonging to target location. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationFirst (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get first target location in a tool path. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationLast (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get last target location in a tool path. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationNext (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get next target location in a tool path. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGetTargetLocationPrev (ER_TARGET_LOCATION_HND er_tarloc_hnd)
	Get previous target location in a tool path. More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_JointAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double JointPos, double speed_percent=0, double override_speed=0, double Tool=0)
	Move_JointAbs, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Joint (ER_TARGET_LOCATION_HND er_tarloc_hnd, double CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double Tool=0, double *Base=0)
	Move_Joint, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Joint_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME ToolFrame=0, DFRAME *BaseFrame=0)
	Move_Joint, full synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_SlewAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd, double JointPos, double speed_percent=0, double override_speed=0, double Tool=0)
	Move_SlewAbs, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Slew (ER_TARGET_LOCATION_HND er_tarloc_hnd, double CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double Tool=0, double *Base=0)
	Move_Slew, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_Slew_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME CartPosFrame, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, DFRAME ToolFrame=0, DFRAME *BaseFrame=0)
	Move_Slew, not synchronized PTP, motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_LIN (ER_TARGET_LOCATION_HND er_tarloc_hnd, double CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double Tool=0, double *Base=0)
	Move_LIN, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_LIN_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME ToolFrame=0, DFRAME *BaseFrame=0)
	Move_LIN, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_CIRC (ER_TARGET_LOCATION_HND er_tarloc_hnd, double CartPosVecVia, double CartPosVec, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, double Tool=0, double Base=0)
	Move_CIRC, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

static DLLAPI long ER_STDCALL	erSetTargetLocation_Move_CIRC_Frame (ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME CartPosFrameVia, DFRAME CartPosFrame, double speed_cp=0, double speed_ori=0, double override_speed=0, long flyby_on=-1, DFRAME ToolFrame=0, DFRAME BaseFrame=0)
	Move_CIRC, continious path motion definition for target location Remarks Use erAddTargetLocation() to create a valid target location handle `er_tarloc_hnd` The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() More...

Static Public Member Functions inherited from ERK_CAPI_TOOLPATH
static DLLAPI int ER_STDCALL	erInitToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd)
	Create a unique tool path handle for a kinematics. More...

static DLLAPI int ER_STDCALL	erUnloadToolPath (ER_TOOLPATH_HND *er_tpth_hnd)
	Unload an instance of a kinematics tool path. More...

static DLLAPI int ER_STDCALL	erInsertToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd, ER_TOOLPATH_HND er_tpth_hnd_ref)
	Create and insert a unique tool path handle. The created tool path handle `er_tpth_hnd` is inserted before the tool path handle `er_tpth_hnd_ref` Remarks If parameter `er_tpth_hnd_ref` is NULL, the new tool path is appended. More...

static DLLAPI int ER_STDCALL	erSwapToolPath (ER_TOOLPATH_HND er_tpth_hnd1, ER_TOOLPATH_HND er_tpth_hnd2)
	Swap two tool pathes. Swaps the position of two tool path handles. More...

static DLLAPI int ER_STDCALL	erToolPathGetTargetLocationNumber (ER_TOOLPATH_HND er_tpth_hnd)
	Get the number of target locations in tool path. More...

static DLLAPI char *ER_STDCALL	erToolPathName (ER_TOOLPATH_HND er_tpth_hnd)
	Name of tool path. More...

static DLLAPI long ER_STDCALL	erToolPathEnable (ER_TOOLPATH_HND er_tpth_hnd, long enable)
	Enable or disable tool path Parameter `enable` is one of ER_ONOFF_DISABLE, ER_ONOFF_ENABLE, ER_ONOFF_STATUS. More...

static DLLAPI ER_HND ER_STDCALL	erToolPathGetRobotHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device robot handle belonging to tool path handle. More...

static DLLAPI ER_HND ER_STDCALL	erToolPathGetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device track motion handle belonging to tool path handle. More...

static DLLAPI ER_HND ER_STDCALL	erToolPathGetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device positioner handle belonging to tool path handle. More...

static DLLAPI ER_HND ER_STDCALL	erToolPathGetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd)
	Get device conveyor handle belonging to tool path handle. More...

static DLLAPI long ER_STDCALL	erToolPathSetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_TrackMotion=NULL)
	Set track motion handle belonging to tool path handle. The tool path handles the track motion device as external axis, see erConnectTrackMotion() hnd_TrackMotion=NULL will remove track motion handle from the tool path. More...

static DLLAPI long ER_STDCALL	erToolPathSetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Positioner=NULL)
	Set positioner handle belonging to tool path handle. The tool path handles the positioner device as external axis, see erConnectPositioner() hnd_Positioner=NULL will remove positioner handle from the tool path. More...

static DLLAPI long ER_STDCALL	erToolPathSetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Conveyor=NULL)
	Set conveyor handle belonging to tool path handle. The tool path handles the conveyor device as external axis, see erConnectConveyor() hnd_Conveyor=NULL will remove conveyor handle from the tool path. More...

static DLLAPI char *ER_STDCALL	erToolPathLogFileName (ER_TOOLPATH_HND er_tpth_hnd)
	Name log file. More...

static DLLAPI char *ER_STDCALL	erToolPathPrgFileName (ER_TOOLPATH_HND er_tpth_hnd)
	Name program file. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erToolPathGetTargetLocationFirst (ER_TOOLPATH_HND er_tpth_hnd)
	Get the first 'target location handle' in the tool path. More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erToolPathGetTargetLocationLast (ER_TOOLPATH_HND er_tpth_hnd)
	Get the last 'target location handle' in the tool path. More...

static DLLAPI long ER_STDCALL	CpyEventsTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EVENTS_HND hnd)
	Copy events to template data. The events defined with events handle `hnd` are copied to the events template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL	GetEventsTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd)
	Get events template data from tool path. Get the events template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyMotionAttributesTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_ATTRIBUTES_HND hnd)
	Copy attributes to template data. The attributes defined with attribute handle `hnd` are copied to the attribute template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL	GetMotionAttributesTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd)
	Get attributes template data from tool path. Get the attributes template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_JOINT_HND hnd)
	Copy move joint data to template data. The move joint data defined with move joint handle `hnd` are copied to the move joint template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL	GetMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd)
	Get move joint template data from tool path. Get the move joint template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_CP_HND hnd)
	Copy move cp data to template data. The move cp data defined with move cp handle `hnd` are copied to the move cp template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL	GetMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd)
	Get move cp template data from tool path. Get the move cp template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd)
	Copy external axis track motion data to template data. The external axis track motion data defined with external axis track motion handle `hnd` are copied to the external axis track motion template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL	GetExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd)
	Get external axis track motion template data from tool path. Get the external axis track motion template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd)
	Copy external axis positioner data to template data. The external axis positioner data defined with external axis positioner handle `hnd` are copied to the external axis positioner template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL	GetExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd)
	Get external axis positioner template data from tool path. Get the external axis positioner template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	CpyExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd)
	Copy external axis conveyor data to template data. The external axis conveyor data defined with external axis conveyor handle `hnd` are copied to the external axis conveyor template belonging to the tool path handle `er_tpth_hnd`. More...

static DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL	GetExtAxConveyorTemplate (ER_TOOLPATH_HND er_tpth_hnd)
	Get external axis conveyor template data from tool path. Get the external axis conveyor template data belonging to the tool path `er_tpth_hnd`. More...

static DLLAPI long ER_STDCALL	erToolPathReset (ER_TOOLPATH_HND er_tpth_hnd)
	Reset all tool path target locations. All target locations defined in tool path `er_tpth_hnd` are resetted to default values and set to invalid. More...

static DLLAPI int ER_STDCALL	erToolPathResetInitRobot (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
	Set initial joint start location for the robot. Remarks Read current joint data from loaded robot. This method must be called before the interpolation starts. More...

static DLLAPI int ER_STDCALL	erToolPathResetInitTrackMotion (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
	Set initial joint start location for the TrackMotion. Remarks Read current joint data from loaded TrackMotion. This method must be called before the interpolation starts. More...

static DLLAPI int ER_STDCALL	erToolPathResetInitPositioner (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
	Set initial joint start location for the Positioner. Remarks Read current joint data from loaded Positioner. This method must be called before the interpolation starts. More...

static DLLAPI int ER_STDCALL	erToolPathResetInitConveyor (ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL)
	Set initial joint start location for the Conveyor. Remarks Read current joint data from loaded Conveyor. This method must be called before the interpolation starts. More...

static DLLAPI int ER_STDCALL	erToolPathSetInitPos (ER_TOOLPATH_HND er_tpth_hnd, double InterpolationTime=0)
	Initializes the Trajectory Planner based on current settings. Remarks This method must be called before the interpolation starts, see erGET_NEXT_TOOLPATH_STEP() More...

static DLLAPI int ER_STDCALL	erGET_NEXT_TOOLPATH_STEP_INIT (ER_TOOLPATH_HND er_tpth_hnd, long cntrl)
	Initializes the interpolation through a complete tool path Parameter `cntrl` must be set to ER_MOP_GNTPS_CNTRL_INIT and can be extended by an individual bitwise-inclusive-OR operator (\|) of. More...

static DLLAPI int ER_STDCALL	erGET_NEXT_TOOLPATH_STEP (ER_TOOLPATH_HND er_tpth_hnd, long cntrl, NEXT_STEP_DATA *p_next_step_data=NULL, double time=0)
	Interpolation through a complete tool path Parameter `cntrl` is an individual bitwise-inclusive-OR operator (\|) of ER_MOP_GNTPS_CNTRL_NEXT_STEP, ER_MOP_GNTPS_CNTRL_UPDATE_GEO, ER_MOP_GNTPS_CNTRL_STEPDATA_OUT Remarks Before using this method, call erGET_NEXT_TOOLPATH_STEP_INIT(), see also erGET_NEXT_STEP() More...

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL	erGET_NEXT_TOOLPATH_STEP_cTargetLocation (ER_TOOLPATH_HND er_tpth_hnd)
	Get the current 'target location handle' while interpolation through a complete tool path. More...

static DLLAPI int ER_STDCALL	erGET_NEXT_TOOLPATH_STEP_TERMINATE (ER_TOOLPATH_HND er_tpth_hnd)
	Terminates interpolation Remarks This method must be called after the interpolation of a tool path, see erGET_NEXT_TOOLPATH_STEP() More...

Static Public Member Functions inherited from ERK_CAPI_DEVICES
static DLLAPI int ER_STDCALL	erInitKin (ER_HND *er_hnd, Host_HND host_hnd=NULL)
	Create a unique kinematics handle. Opcode 101, Chapter 3.4.1, Page 3-26, same as erINITIALIZE() Initializes one instance of a robot and creates an unique kinematics handle `er_hnd` belonging to a robot kinematics. This handles is necessary to access individual data from the robot and to call other functions. Use erLoadKin() to load an EASY-ROB rob file (*.rob) containing a kinematics. More...

static DLLAPI int ER_STDCALL	erUnloadKin (ER_HND *er_hnd)
	Unload an instance of kinematics of the Kernel. Unloads an instance of kinematics givin by the unique kinematics handle. Unloading a kinematics will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics. The number of loaded kinematics will be decremented. This kinematics handle `er_hnd` is set to NULL and is not valid after calling this function. More...

static DLLAPI int ER_STDCALL	erConnectPositioner (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a positioner kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectPositionerSetSync() for synchronized motion with a positioner. Use erConnectPositionerGetSync() to receive synchronization status between robot and the connected positioner. More...

static DLLAPI ER_HND ER_STDCALL	erConnectPositionerGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and positioner. See also erConnectPositioner() More...

static DLLAPI int ER_STDCALL	erConnectPositionerSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and positioner. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectPositionerGetSync() More...

static DLLAPI int ER_STDCALL	erConnectPositionerGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and positioner. See also erConnectPositionerSetSync() More...

static DLLAPI int ER_STDCALL	erConnectConveyor (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a conveyor kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectConveyorSetSync() for synchronized motion with a conveyor. Use erConnectConveyorGetSync() to receive synchronization status between robot and the connected conveyor. More...

static DLLAPI ER_HND ER_STDCALL	erConnectConveyorGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and conveyor. See also erConnectConveyor() More...

static DLLAPI int ER_STDCALL	erConnectConveyorSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and conveyor. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectConveyorGetSync() More...

static DLLAPI int ER_STDCALL	erConnectConveyorGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and conveyor. See also erConnectConveyorSetSync() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotion (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a track motion kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectTrackMotionSetSync() for synchronized motion with a track motion. Use erConnectTrackMotionGetSync() to receive synchronization status between robot and the connected track motion. More...

static DLLAPI ER_HND ER_STDCALL	erConnectTrackMotionGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and track motion. See also erConnectTrackMotion() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotionSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and track motion. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON, 4: ER_SYNC_CONVEYOR See also erConnectTrackMotionGetSync() More...

static DLLAPI int ER_STDCALL	erConnectTrackMotionGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and track motion. See also erConnectTrackMotionSetSync() More...

static DLLAPI int ER_STDCALL	erConnectRobot (ER_HND er_hnd, ER_HND er_hnd_connect)
	Connects a slave robot kinematics with handle `er_hnd_connect` to the robot kinematics with handle `er_hnd`. Remarks Use erConnectRobotSetSync() for synchronized motion with a slave robot. Use erConnectRobotGetSync() to receive synchronization status between robot and the connected slave robot. More...

static DLLAPI ER_HND ER_STDCALL	erConnectRobotGetHND (ER_HND er_hnd)
	Get robots connection handle between robot and slave robot. See also erConnectRobot() More...

static DLLAPI int ER_STDCALL	erConnectRobotSetSync (ER_HND er_hnd, long connect_sync)
	Set robots synchronization flag for synchronization between robot and slave robot. The synchronization flag `connect_sync` can be one of the following values. 1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectRobotGetSync() More...

static DLLAPI int ER_STDCALL	erConnectRobotGetSync (ER_HND er_hnd)
	Get robots synchronization flag for synchronization between robot and slave robot. See also erConnectRobotSetSync() More...

static DLLAPI int ER_STDCALL	erUnloadTool (ER_HND er_hnd)
	Unload a kinematics tool. Unloads a kinematics tool givin by the unique kinematics handle. Unloading a kinematics tool will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics tool. Remarks This kinematics handle `er_hnd` is still valid after calling this function. More...

static DLLAPI int ER_STDCALL	erLoadKin (ER_HND er_hnd, char *fln_rob)
	Load an EASY-ROB rob file (.rob) containing a kinematics. Loading a robfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the robfile. In this case the host application has to read or import the geometry and store it inside their own structure. Remarks* Get a valid unique kinematics handle with erInitKin() In case the robfile cannot be loaded, the kinematics handle is not valid anymore. Get a new kinematics handle with erInitKin() More...

static DLLAPI int ER_STDCALL	erLoadTool (ER_HND er_hnd, char *fln_tool)
	Load an EASY-ROB tool file (*.tol) containing tool (tcp) data. Loading a toolfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the toolfile. . More...

static DLLAPI int ER_STDCALL	erGet_n_Kin (ER_HND er_hnd)
	Get the number of loaded kinematics. More...

static DLLAPI int ER_STDCALL	erGet_n_Kin_IR (ER_HND er_hnd)
	Get the number of loaded kinematics with more than 3 joints and inverse kinematics. More...

static DLLAPI int ER_STDCALL	erGetName (ER_HND er_hnd, char *name)
	Get the name of the robot. More...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI_TOOLPATH
static ERK_CAPI_TOOLPATH_TARGETS	erk_toolpath_targets
	Method class to create, unload and specify target locations. More...

static ERK_CAPI_TOOLPATH_HEAD	erk_toolpath_head
	Method class to set and get tool path motion header data for target locations. More...

static ERK_CAPI_TOOLPATH_INSTRUCTIONS	erk_toolpath_instructions
	Method class to set and get Instructions for target locations. More...

static ERK_CAPI_TOOLPATH_EVENTS	erk_toolpath_events
	Method class to set and get tool path events for target locations. More...

static ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX	erk_toolpath_attributes_aux
	Method class to set and get tool path auxiliary motion attributes for target locations. More...

static ERK_CAPI_TOOLPATH_ATTRIBUTES	erk_toolpath_attributes
	Method class to set and get tool path motion attributes for target locations. More...

static ERK_CAPI_TOOLPATH_MOVE_JOINT	erk_toolpath_move_joint
	Method class to specify a joint motion for target location. More...

static ERK_CAPI_TOOLPATH_MOVE_CP	erk_toolpath_move_cp
	Method class to specify a cp motion for target location. More...

static ERK_CAPI_TOOLPATH_MOTION_EXEC	erk_toolpath_motion_exec
	Method class to access motion execution data at target. More...

static ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION	erk_toolpath_extax_trackmotion
	Method class to specify external axis data for a track/slider-motion for target location. More...

static ERK_CAPI_TOOLPATH_EXTAX_POSITIONER	erk_toolpath_extax_positioner
	Method class to specify external axis data for a positioner for target location. More...

static ERK_CAPI_TOOLPATH_EXTAX_CONVEYOR	erk_toolpath_extax_conveyor
	Method class to specify external axis data for a conveyor for target location. More...

static ERK_CAPI_TOOLPATH_TOOLBOX	erk_toolpath_toolbox
	Method class for miscellaneous tool path calculations. More...

static ERK_CAPI_TOOLPATH_APIPP	erk_toolpath_apipp
	Method for post processing, creating a robot program for a tool path. More...

static ERK_CAPI_TOOLPATH_CREATE	erk_toolpath_create
	Method class to create tool pathes. More...

Static Public Attributes inherited from ERK_CAPI_DEVICES
static ERK_CAPI_ROB	erk_capi_rob
	Method class kinematics and transformations. More...

static ERK_CAPI_MOP	erk_capi_mop
	Method class for motion planning and -execution. More...

static ERK_CAPI_TOOLPATH	erk_capi_toolpath
	Method class for tool path definition. More...

Static Public Attributes inherited from ERK_CAPI
static ERK_CAPI_ADMIN	erk_capi_admin
	Method class to administrate this Robotics Simulation Kernel. More...

static ERK_CAPI_DEVICES	erk_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution. More...

static ERK_CAPI_SIM	erk_capi_sim
	Method class for simulation settings. More...

static ERK_CAPI_AUTOPATH	erk_capi_autopath
	Method class for collision free path planning. More...

static ERK_CAPI_TARGETS	erk_capi_targets
	Method class for paths and tags. More...

static ERK_CAPI_GEO	erk_capi_geo
	Method class to handle 3D Geometry Data. More...

static ERK_CAPI_SYS	erk_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class to create, unload and specify target locations.

Member Function Documentation

◆ erAddTargetLocation()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erAddTargetLocation	(	ER_TOOLPATH_HND	er_tpth_hnd,
		ER_TARGET_LOCATION_HND *	er_tarloc_hnd
	)

static

Add a new target location to a tool path
Remarks
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[out]	er_tarloc_hnd	a new unique target location handle ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

◆ erGetTargetLocationFirst()

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationFirst ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Get first target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

target	location handle - first target location in a tool path ER_TARGET_LOCATION_HND
NULL	- Error, tool path has no target locations

◆ erGetTargetLocationIdx()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationIdx ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Index of target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

>0	- Idx of target location
0	- Error

◆ erGetTargetLocationLast()

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationLast ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Get last target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

target	location handle - last target location in a tool path ER_TARGET_LOCATION_HND
NULL	- Error, tool path has no target locations

◆ erGetTargetLocationName()

static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationName ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Name of target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

pointer	to char for 'target location name', maximum lengths ER_MAXSTR
NULL	- Error

◆ erGetTargetLocationNameVia()

static DLLAPI char* ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNameVia ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Name of target Via location in a tool path, in case of circular motion.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

pointer	to char for 'target location name', maximum lengths ER_MAXSTR
NULL	- Error

◆ erGetTargetLocationNext()

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNext ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Get next target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

target	location handle - next target location in a tool path ER_TARGET_LOCATION_HND
NULL	- target location `er_tarloc_hnd` is the last one, or tool path has no target locations

◆ erGetTargetLocationNumber()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationNumber ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Number of target locations in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

n	- number of target locations in a tool path

◆ erGetTargetLocationPrev()

static DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erGetTargetLocationPrev ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Get previous target location in a tool path.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

target	location handle - previous target location in a tool path ER_TARGET_LOCATION_HND
NULL	- target location `er_tarloc_hnd` is the first one, or tool path has no target locations

◆ erhGetTargetLocationER_HND()

static DLLAPI ER_HND ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erhGetTargetLocationER_HND ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Device handle belonging to target location.

Parameters

[in] er_tarloc_hnd unique target location handle ER_TARGET_LOCATION_HND

Return values

er_hnd - device robot handle

◆ erInsertTargetLocation()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erInsertTargetLocation	(	ER_TOOLPATH_HND	er_tpth_hnd,
		ER_TARGET_LOCATION_HND *	er_tarloc_hnd,
		ER_TARGET_LOCATION_HND	er_tarloc_hnd_ref = `NULL`
	)

static

Insert a new target location to a tool path before an existing target location
Remarks
The new target location is inserted before the target location with handle er_tarloc_hnd_ref.
If parameter er_tarloc_hnd_ref is NULL, the new target location is appended, see erAddTargetLocation().
The new target location is reset to default values and marked as invalid, use erGetTargetLocationNumber() to receive the number of target locations in the tool path.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters

[in]	er_tpth_hnd	unique tool path handle ER_TOOLPATH_HND
[out]	er_tarloc_hnd	a new unique target location handle ER_TARGET_LOCATION_HND
[in]	er_tarloc_hnd_ref	existing target location handle ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_CIRC()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_CIRC	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	CartPosVecVia,
		double *	CartPosVec,
		double	speed_cp = `0`,
		double	speed_ori = `0`,
		double	override_speed = `0`,
		long	flyby_on = `-1`,
		double *	Tool = `0`,
		double *	Base = `0`
	)

static

Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosVecVia	Target Position at VIA location, vector definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]	CartPosVec	Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]	speed_cp	cartesian speed [m/s], 0 will use template definitions
[in]	speed_ori	cartesian orientation speed [rad/s], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	flyby_on	one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]	Tool	Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]	Base	Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_CIRC_Frame()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_CIRC_Frame	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		DFRAME *	CartPosFrameVia,
		DFRAME *	CartPosFrame,
		double	speed_cp = `0`,
		double	speed_ori = `0`,
		double	override_speed = `0`,
		long	flyby_on = `-1`,
		DFRAME *	ToolFrame = `0`,
		DFRAME *	BaseFrame = `0`
	)

static

Move_CIRC, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosFrameVia	Target Frame at VIA location, DFRAME
[in]	CartPosFrame	Target Frame, DFRAME
[in]	speed_cp	cartesian speed [m/s], 0 will use template definitions
[in]	speed_ori	cartesian orientation speed [rad/s], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	flyby_on	one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]	ToolFrame	DFRAME, 0 will use template definitions
[in]	BaseFrame	DFRAME, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_Joint()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Joint	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	CartPosVec,
		long	configuration = `0`,
		long	ptp_target_calculation_mode = `ER_PTP_TARGET_CALC_MODE_UNDEF`,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		double *	Tool = `0`,
		double *	Base = `0`
	)

static

Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosVec	Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]	configuration	Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]	ptp_target_calculation_mode	is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	Tool	Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]	Base	Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_Joint_Frame()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Joint_Frame	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		DFRAME *	CartPosFrame,
		long	configuration = `0`,
		long	ptp_target_calculation_mode = `ER_PTP_TARGET_CALC_MODE_UNDEF`,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		DFRAME *	ToolFrame = `0`,
		DFRAME *	BaseFrame = `0`
	)

static

Move_Joint, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosFrame	Target Frame, DFRAME
[in]	configuration	Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]	ptp_target_calculation_mode	is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	ToolFrame	DFRAME, 0 will use template definitions
[in]	BaseFrame	DFRAME, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_JointAbs()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_JointAbs	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	JointPos,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		double *	Tool = `0`
	)

static

Move_JointAbs, full synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	JointPos	target joint location [m,rad], maximum size ER_KIN_DOFS
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	Tool	Tool vector definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_LIN()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	CartPosVec,
		double	speed_cp = `0`,
		double	speed_ori = `0`,
		double	override_speed = `0`,
		long	flyby_on = `-1`,
		double *	Tool = `0`,
		double *	Base = `0`
	)

static

Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosVec	Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]	speed_cp	cartesian speed [m/s], 0 will use template definitions
[in]	speed_ori	cartesian orientation speed [rad/s], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	flyby_on	one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]	Tool	Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]	Base	Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_LIN_Frame()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_LIN_Frame	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		DFRAME *	CartPosFrame,
		double	speed_cp = `0`,
		double	speed_ori = `0`,
		double	override_speed = `0`,
		long	flyby_on = `-1`,
		DFRAME *	ToolFrame = `0`,
		DFRAME *	BaseFrame = `0`
	)

static

Move_LIN, continious path motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosFrame	Target Frame, DFRAME
[in]	speed_cp	cartesian speed [m/s], 0 will use template definitions
[in]	speed_ori	cartesian orientation speed [rad/s], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	flyby_on	one of ER_FLYBY_OFF or ER_FLYBY_ON, -1 will use template definitions
[in]	ToolFrame	DFRAME, 0 will use template definitions
[in]	BaseFrame	DFRAME, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_Slew()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Slew	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	CartPosVec,
		long	configuration = `0`,
		long	ptp_target_calculation_mode = `ER_PTP_TARGET_CALC_MODE_UNDEF`,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		double *	Tool = `0`,
		double *	Base = `0`
	)

static

Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosVec	Target Position vector, definition Pxyz [m] Rxyz [rad] ER_DOF6
[in]	configuration	Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]	ptp_target_calculation_mode	is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	Tool	Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions
[in]	Base	Base vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_Slew_Frame()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_Slew_Frame	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		DFRAME *	CartPosFrame,
		long	configuration = `0`,
		long	ptp_target_calculation_mode = `ER_PTP_TARGET_CALC_MODE_UNDEF`,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		DFRAME *	ToolFrame = `0`,
		DFRAME *	BaseFrame = `0`
	)

static

Move_Slew, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	CartPosFrame	Target Frame, DFRAME
[in]	configuration	Robot configuration [1-ER_KIN_CONFIGS], 0 will use template definitions
[in]	ptp_target_calculation_mode	is one of ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, 0=ER_PTP_TARGET_CALC_MODE_UNDEF will use template definitions
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	ToolFrame	DFRAME, 0 will use template definitions
[in]	BaseFrame	DFRAME, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSetTargetLocation_Move_SlewAbs()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSetTargetLocation_Move_SlewAbs	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd,
		double *	JointPos,
		double	speed_percent = `0`,
		double	override_speed = `0`,
		double *	Tool = `0`
	)

static

Move_SlewAbs, not synchronized PTP, motion definition for target location
Remarks
Use erAddTargetLocation() to create a valid target location handle er_tarloc_hnd
The target location will be set to valid after successful motion definition, see ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid()

Parameters

[in]	er_tarloc_hnd	unique target location handle ER_TARGET_LOCATION_HND
[in]	JointPos	target joint location [m,rad], maximum size ER_KIN_DOFS
[in]	speed_percent	percentage speed definition [>0-1000%], 0 will use template definitions
[in]	override_speed	percentage override_speed definition [>0-1000%], 0 will use template definitions
[in]	Tool	Tool vector, definition Pxyz [m] Rxyz [rad] ER_DOF6, 0 will use template definitions

Return values

0	- Ok
1	- Error

◆ erSwapTargetLocation()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erSwapTargetLocation	(	ER_TARGET_LOCATION_HND	er_tarloc_hnd1,
		ER_TARGET_LOCATION_HND	er_tarloc_hnd2
	)

static

Swap the order of two target location in a tool path
Remarks
Both target location handle must be in the same tool path.
Use erGetTargetLocationIdx() to get the belonging index for each target location.

Parameters

[in]	er_tarloc_hnd1	1st unique target location handle ER_TARGET_LOCATION_HND
[in]	er_tarloc_hnd2	2nd unique target location handle ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

◆ erTargetLocationReset()

static DLLAPI long ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erTargetLocationReset ( ER_TARGET_LOCATION_HND er_tarloc_hnd )

static

Reset Target location to default values
Remarks
The target location is marked as invalid.
See ERK_CAPI_TOOLPATH_HEAD::erTargetLocationValid() to set, unset the validity of a target location or request the validity status.

Parameters

[in] er_tarloc_hnd unique handle for target location ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

◆ erUnloadTargetLocation()

static DLLAPI int ER_STDCALL ERK_CAPI_TOOLPATH_TARGETS::erUnloadTargetLocation ( ER_TARGET_LOCATION_HND * er_tarloc_hnd )

static

Unload/delete a target location from a tool path
Remarks
Use erGetTargetLocationNumber() to receive the number of remaining target locations in the tool path.

Parameters

[in,out] er_tarloc_hnd unique target location handle set to NULL after successful call ER_TARGET_LOCATION_HND

Return values

0	- Ok
1	- Error

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

erk_capi.h

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ erAddTargetLocation()

◆ erGetTargetLocationFirst()

◆ erGetTargetLocationIdx()

◆ erGetTargetLocationLast()

◆ erGetTargetLocationName()

◆ erGetTargetLocationNameVia()

◆ erGetTargetLocationNext()

◆ erGetTargetLocationNumber()

◆ erGetTargetLocationPrev()

◆ erhGetTargetLocationER_HND()

◆ erInsertTargetLocation()

◆ erSetTargetLocation_Move_CIRC()

◆ erSetTargetLocation_Move_CIRC_Frame()

◆ erSetTargetLocation_Move_Joint()

◆ erSetTargetLocation_Move_Joint_Frame()

◆ erSetTargetLocation_Move_JointAbs()

◆ erSetTargetLocation_Move_LIN()

◆ erSetTargetLocation_Move_LIN_Frame()

◆ erSetTargetLocation_Move_Slew()

◆ erSetTargetLocation_Move_Slew_Frame()

◆ erSetTargetLocation_Move_SlewAbs()

◆ erSwapTargetLocation()

◆ erTargetLocationReset()

◆ erUnloadTargetLocation()