EASY-ROB™ Application Programming Interface  v8.008
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ER_CAPI_TYPES.H File Reference

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Classes

struct  tframe
 
struct  _ROB_DH
 
struct  _COLL_PROBE
 
struct  _COLL_PAIR
 
struct  _COLL_DEVICE
 
struct  _COLL_DEVICE_TUPEL
 

Typedefs

typedef struct tframe FRAME
 
typedef struct tframe frame
 
typedef struct _ROB_DH ROB_DH
 
typedef enum _STATUS_OUTPUT_TYPE STATUS_OUTPUT_TYPE
 
typedef enum _IPO_MODE IPO_MODE
 
typedef enum _CIRC_ORI_MODE CIRC_ORI_MODE
 
typedef enum _CIRC_ORI_IPO_MODE CIRC_ORI_IPO_MODE
 
typedef enum _LIN_ORI_MODE LIN_ORI_MODE
 
typedef struct _COLL_PROBE COLL_PROBE
 
typedef struct _COLL_PAIR COLL_PAIR
 
typedef struct _COLL_DEVICE COLL_DEVICE
 
typedef struct _COLL_DEVICE_TUPEL COLL_DEVICE_TUPEL
 

Enumerations

enum  _STATUS_OUTPUT_TYPE { SIM_STEP =1, TARGET_POSE =2, IPO_STEP =3 }
 
enum  _IPO_MODE {
  JOINT =0, CP =1, CIRC =2, WAIT =3,
  SLEW =4, IPO_AUX_1 =5, IPO_AUX_2 =6, IPO_AUX_3 =7,
  IPO_AUX_4 =8, IPO_UNDEF =9
}
 
enum  _CIRC_ORI_MODE {
  CIRC_VARIABLE, CIRC_FIX, CIRC_TANGENTIAL, CIRC_AUX,
  CIRC_VARIABLE2, CIRC_QUATERNION
}
 
enum  _CIRC_ORI_IPO_MODE {
  CIRC_ORI_START_END, CIRC_ORI_START_VIA_END, CIRC_ORI_START_VIAORI_END, CIRC_ORI_TANGENTIAL,
  CIRC_ORI_FIX
}
 
enum  _LIN_ORI_MODE {
  LIN_VARIABLE, LIN_FIX, LIN_TANGENTIAL, LIN_AUX,
  LIN_QUATERNION
}
 

Variables

const int ER_OK = 0
 Return value OK for success. More...
 
const int ER_ERROR = 1
 Return value ERROR for no success. More...
 
const int ER_CANCEL = -1
 Return value CANCEL, dialog cancelled. More...
 
const int ER_CALCULATION_FAILED = -2
 Return value calculation failed or result tested as invalid. More...
 
const double PIQ = 0.7853981633974483096
 PI/4 45 deg. More...
 
const double PIT = 1.0471975511965977462
 PI/3 60. More...
 
const double PIH = 1.5707963267948966192
 PI/2 90. More...
 
const double PI = 3.1415926535897932385
 PI 180. More...
 
const double TPIH = 4.7123889803846898577
 3*PI/2 270 More...
 
const double TPI = 6.2831853071795864769
 2*PI 360 More...
 
const double DEG = 57.295779513082320877
 conversion from radiant to degree 180/PI More...
 
const double RAD = 1.7453292519943295769E-2
 conversion from degree to radiants PI/180 More...
 
const float fPI = (float)PI
 PI. More...
 
const float fDEG = (float)DEG
 conversion from radiant to degree 180/PI More...
 
const float fRAD = (float)RAD
 conversion from degree to radiants PI/180 More...
 
const int WIN_AUSG = -2
 txt_tbd More...
 
const float mm2m = 0.001f
 converts [mm] to [m] More...
 
const float m2mm = 1000.0f
 converts [m] to [mm] More...
 
const float inch2m = 0.0254f
 converts [inch] to [m] More...
 
const float m2inch = (1/0.0254f)
 converts [m] to [inch] More...
 
const float mps2mmpmin =(60000.0f)
 converts [m] per seconds into [mm] per minute More...
 
const float mmpmin2mps =(1/60000.0f)
 converts [mm] per minute into [m] per seconds More...
 
const long MAXSTR32 = 32
 Maximum length of a 32char message. More...
 
const long MAXSTR64 = 64
 Maximum length of a 64char message. More...
 
const long MAXSTR = 128
 Maximum length of a short message. More...
 
const long DMAXSTR = 256
 Maximum length of a medium message. More...
 
const long LS_MAXSTR = 512
 Maximum length of a long message. More...
 
const long HS_MAXSTR = 1024
 Maximum length of a huge message. More...
 
const long DS_MAXSTR = 2048
 Maximum length of a double huge message. More...
 
const int DIM = 3
 3 Dimensions More...
 
const int DOF6 = 6
 6 Degrees-of-Freedom More...
 
const int DOF_QUAT = 7
 Quaternion vector length. More...
 
const int DOF9 = 9
 9 Degrees-of-Freedom More...
 
const int DOF12 = 12
 12 Degrees-of-Freedom More...
 
const double KIN_EPSI = 0.5e-6
 epsi More...
 
const int KIN_CONFIGS = 8
 max. number of configurations More...
 
const int KIN_DOFS = 12
 Maximum number of Degrees-of-Freedom for a kinematics. More...
 
const int KIN_PASSIV_JNTS = 36
 max. number of passive Joints More...
 
const int KIN_USER_DATA = 12
 Number of Sets of Kin User Data. More...
 
const int KIN_TOOLS = 12
 max. number of available Tools More...
 
const int KIN_HOMEPOSITIONS = 12
 max. number of available Home Positions More...
 
const int KIN_PRGS = 12
 max. number of available Programs More...
 
const int UNDEF_GRP = -1
 undefined Group type More...
 
const int ROBOT_GRP = 0
 Robot group type. More...
 
const int TOOL_GRP = 1
 Tool group type. More...
 
const int BODY_GRP = 2
 Body group type. More...
 
const int REF_NO_REF = 1
 no reference system defined More...
 
const int REF_BASE = 2
 reference system is robot Base coorsys More...
 
const int REF_TOOL = 3
 reference system is robot Tool, Tcp coorsys More...
 
const int REF_WORLD = 4
 reference system is World, Inertia coorsys More...
 
const int REF_WOBJ = 5
 reference system is path work object More...
 
const int REF_TAG = 6
 reference system is tag More...
 
const int REF_CAD = 7
 reference system is geometry More...
 
const int REF_TIP = 8
 reference system is robot Flange, Tip coorsys More...
 
const int REF_JNT = 9
 reference system is a robot Joint More...
 
const int REF_GRAB = 10
 reference system is robot Flange, Tip coorsys More...
 
const int Online_Output_Data_DLG = 1
 open/close another output data dialog More...
 
const int Program_Window_DLG = 2
 open/close non modal program window dialog More...
 
const int Teach_Window_DLG = 3
 open/close non modal teach dialog More...
 
const int Jog_Window_DLG = 4
 open/close non modal jog window dialog More...
 
const int Tag_Window_DLG = 5
 open/close non modal tag window dialog More...
 
const int Navigator_Window_DLG = 6
 open/close non modal navigator window dialog More...
 
const int _3D_CAD_Window_DLG = 7
 open/close non modal 3d_cad window dialog More...
 
const int Kinematics_Window_DLG = 8
 open/close non modal kineamtics window dialog More...
 
const int Message_Window_DLG = 9
 open/close non modal message window dialog More...
 
const int Remote_Control_DLG = 10
 open/close non modal remote control dialog More...
 
const int Sensor_Interface_DLG = 11
 open/close non modal sensor interface window dialog More...
 
const int Api_User_Dll_DLG = 12
 open modal dialog to select API UserDLL to start More...
 
const int ER_PlugIn_dll_DLG = 13
 open modal dialog to select ER_PlugIn to start More...
 
const int AVI_Recorder_DLG = 14
 open non modal avi recorder dialog (ER_PlugIn) More...
 
const int VRML_97_Export_DLG = 15
 open non modal vrml export dialog (ER_PlugIn) More...
 
const int CAD_IMPORT_DLG = 16
 open/close non modal cad import dialog More...
 
const int AUTOPATH_MOP_DLG = 17
 open/close non modal auto path motion planner dialog More...
 
const int _3D_PDF_Export_DLG = 18
 open/close non modal 3D Pdf Export dialog More...
 
const int DLG_Mode_Close = 0
 close non modal dialog More...
 
const int DLG_Mode_Open = 1
 open non modal dialog More...
 
const int DLG_Mode_Status = 2
 status of non modal dialog More...
 
const int MP_INVALID = 0
 Picking mode not selected, Get_cPickMode() More...
 
const int MP_SEL_BODY = 1
 Picking mode select body/geometry, Get_cPickMode() More...
 
const int MP_POINT = 2
 Picking mode select point/vertex, Get_cPickMode() More...
 
const int MP_DISTANCE = 3
 Picking mode measure distance, Get_cPickMode() More...
 
const int MP_DISTANCE_DEVICE = 4
 Picking mode measure distance devices, Get_cPickMode() More...
 
const int MP_CIRCLE_CENTER = 5
 Picking mode measure circle by three points, Get_cPickMode() More...
 
const int MP_HIT_INVALID = 0
 invalid item picked More...
 
const int MP_HIT_ROBOT = 1
 geometry from robot group picked More...
 
const int MP_HIT_TOOL = 2
 geometry from tool group picked More...
 
const int MP_HIT_BODY = 3
 geometry from body group picked More...
 
const int MP_HIT_TAG = 4
 tag picked More...
 
const int MP_HIT_POLY = 5
 center of polygon picked (normal avialable) More...
 
const int MP_HIT_LINE = 6
 line picked More...
 
const int MP_HIT_POINT = 7
 point picked More...
 
const int MP_HIT_COORSYS = 8
 geomety coorsys picked More...
 
const int MP_HIT_CADPREVIEW = 9
 geomety in CAD Preview picked More...
 
const int MP_HIT_MEASURE = 10
 Coorsys picked. More...
 
const int PICK_RESULT_DEFAULT = 0
 same as iPOINTS More...
 
const int PICK_RESULT_oPOINTS = 1
 position w.r.t. obj More...
 
const int PICK_RESULT_oNORMALS = 2
 normal w.r.t. obj More...
 
const int PICK_RESULT_iPOINTS = 3
 position w.r.t. inertia system More...
 
const int PICK_RESULT_iNORMALS = 4
 normal w.r.t. inertia system More...
 
const int PICK_RESULT_idXYZ = 5
 distance w.r.t. inertia system More...
 
const int PICK_RESULT_DISTANCE = 6
 lengths of idXYZ More...
 
const int PICK_RESULT_CIRCLE_iCENTER = 7
 circle center More...
 
const int PICK_RESULT_CIRCLE_iNORMAL = 8
 circle normal More...
 
const int PICK_RESULT_CIRCLE_RADIUS = 9
 circle radius More...
 
const int PICK_RESULT_CIRCLE_PHI = 10
 circle phi More...
 
const int MM_CRUISE = 0
 Mouse mode Cruise World. More...
 
const int MM_TCP_JOG_WZKS = 1
 Mouse mode Jog Tcp w.r.t. Tool Coordinates. More...
 
const int MM_TCP_JOG_WORLD = 2
 Mouse mode Jog Tcp w.r.t. World Coorsys. More...
 
const int MM_JNT_JOG = 3
 Mouse mode Jog single robot joints. More...
 
const int MM_ROBBASE = 4
 Mouse mode move robot base. More...
 
const int MM_BODY = 5
 Mouse mode move current selected geometry. More...
 
const int MM_BODY_ALL = 6
 Mouse mode move all geometries in cGroup. More...
 
const int MM_TAG = 7
 Mouse mode move cTag location. More...
 
const int MM_BCKGNDCOLOR = 8
 Mouse mode change background RGB color. More...
 
const int MM_FLOORCOLOR = 9
 Mouse mode change floor RGB color. More...
 
const int MM_TAG_OFFSET = 10
 Mouse mode move cWobj location. More...
 
const int MM_TOOL = 11
 Mouse mode change current Tool data. More...
 
const int MM_LIGHTPOS = 13
 Mouse mode change light position. More...
 
const int MM_NEAR_FAR_PLANE = 14
 Mouse mode change near and far plane. More...
 
const int MM_TCP_JOG_BASE = 15
 Mouse mode Jog Tcp w.r.t. Robot Base. More...
 
const int ZOOM_FLAG_UNDEF = 0x0
 Zoom flag undefined. More...
 
const int ZOOM_FLAG_FIT_ROT_VIEW = 0x1
 Zoom flag Fit 3D Scene. More...
 
const int ZOOM_FLAG_SET_COI = 0x2
 Zoom flag Set and calculate new COI location w.r.t. world coorsys. More...
 
const int ZOOM_FLAG_SET_CM_AUTO = 0x4
 Zoom flag Enables CruiseMode AUTO. More...
 
const int ZOOM_FLAG_GRF_UPDATE = 0x8
 Zoom flag Performe a grafics update. More...
 
const int ZOOM_FLAG_VIEW_IPO = 0x10
 Zoom flag Interpolate to the new perspective. More...
 
const int ZOOM_FLAG_DEFAULT = ZOOM_FLAG_FIT_ROT_VIEW | ZOOM_FLAG_SET_COI | ZOOM_FLAG_SET_CM_AUTO | ZOOM_FLAG_VIEW_IPO
 Zoom flag default setting. More...
 
const int INPUT_LINE_SELECT_DEFAULT = 0x0
 default, see ER_CAPI_USER_IO_DIALOG::dialog_select() More...
 
const int INPUT_LINE_SELECT_NO_NUMBER = 0x1
 without enumeration number at the beginning, see ER_CAPI_USER_IO_DIALOG::dialog_select() More...
 
const int INPUT_LINE_SELECT_SORT = 0x2
 sorts alphabetical, see ER_CAPI_USER_IO_DIALOG::dialog_select() More...
 
const int INPUT_LINE_SELECT_SORT_KEEP_FIRST = 0x4
 do not sort first element, see ER_CAPI_USER_IO_DIALOG::dialog_select() More...
 
const int INPUT_LINE_SELECT_SORT_KEEP_LAST = 0x8
 do not sort last element, see ER_CAPI_USER_IO_DIALOG::dialog_select() More...
 
const int NUM_SIM_VIEWS = 4
 Number of possible simulation views, per default view #1 is active. More...
 
const int ROT_VEW_TYPE_UNDEF = 0x0
 no operation More...
 
const int ROT_VEW_TYPE_CURRENT = 0x1
 current simulation view More...
 
const int ROT_VEW_TYPE_INIT = 0x2
 initial simulation view when EASY-ROB starts More...
 
const int ROT_VEW_TYPE_CEL_LOADED = 0x4
 simulation view defined when loadeding a cel file More...
 
const int ROT_VEW_TYPE_OPENGL_OFFSET = 0x8
 generell transformation from OpenGL origin to ER world frame More...
 
const int ROT_VEW_TYPE_SIM_1 = 0x10
 rotation view for simulation view #1 More...
 
const int ROT_VEW_TYPE_SIM_2 = 0x20
 rotation view for ssimulation view #2 More...
 
const int ROT_VEW_TYPE_SIM_3 = 0x40
 rotation view for ssimulation view #3 More...
 
const int ROT_VEW_TYPE_SIM_4 = 0x80
 rotation view for ssimulation view #4 More...
 
const int ROT_VEW_TYPE_CAD_PREVIEW = 0x100
 cad preview More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_UNDEF = 0
 3D_Pdf_Export status undefined More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_RECORD = 1
 3D_Pdf_Export recording started More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN = 2
 3D_Pdf_Export begin to save 3D_Pdf More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN_THREAD = 3
 3D_Pdf_Export begin to save 3D_Pdf in a thread More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_DONE = 4
 3D_Pdf_Export saving 3D_Pdf done with success More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ABORT = 5
 3D_Pdf_Export saving 3D_Pdf aborted More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ERROR = 6
 3D_Pdf_Export error during save 3D_Pdf More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_KEYFRAMES_MAX = 7
 3D_Pdf_Export number of max. recorded keyframes reached More...
 
const int _3DPDF_EXPORT_SAVE_STATUS_LAST = 7
 3D_Pdf_Export last token ID More...
 
const int _3DPDF_EXPORT_MODE_FREE = 0
 3D_Pdf_Export is not used More...
 
const int _3DPDF_EXPORT_MODE_ERROR = -1
 3D_Pdf_Export is on Error More...
 
const int _3DPDF_EXPORT_MODE_DLG = 1
 3D_Pdf_Export used by User Dialog More...
 
const int _3DPDF_EXPORT_MODE_API = 2
 3D_Pdf_Export used by API More...
 
const int _3DPDF_EXPORT_OK = 0
 3D_Pdf_Export method successful More...
 
const int _3DPDF_EXPORT_ERROR = 1
 Error in 3D Pdf Export method. More...
 
const int _3DPDF_EXPORT_VALUE = -1
 Error in 3D Pdf Export method. More...
 
const int _3DPDF_EXPORT_UNDEF = 0x0
 3D_Pdf_Export undefined More...
 
const int _3DPDF_EXPORT_GET_MODE = 0x1
 3D_Pdf_Export current status, _3DPDF_EXPORT_MODE_FREE, _3DPDF_EXPORT_MODE_ERROR, _3DPDF_EXPORT_MODE_DLG or _3DPDF_EXPORT_MODE_API More...
 
const int _3DPDF_EXPORT_ACTIVATE = 0x2
 3D_Pdf_Export activate API Control for 3D Pdf Export More...
 
const int _3DPDF_EXPORT_DEACTIVATE = 0x4
 3D_Pdf_Export deactivate API Control for 3D Pdf Export More...
 
const int _3DPDF_EXPORT_INIT = 0x8
 3D_Pdf_Export Initialization More...
 
const int _3DPDF_EXPORT_START = 0x10
 3D_Pdf_Export Start recording More...
 
const int _3DPDF_EXPORT_PAUSE = 0x20
 3D_Pdf_Export Pause recording More...
 
const int _3DPDF_EXPORT_STOP = 0x40
 3D_Pdf_Export Stop recording and Save to 3D_Pdf More...
 
const int _3DPDF_EXPORT_SAVE = 0x40
 3D_Pdf_Export Stop recording and Save to 3D_Pdf More...
 
const int _3DPDF_EXPORT_EXPORT = 0x80
 3D_Pdf_Export EXPORT to 3D_Pdf without animation More...
 
const int _3DPDF_EXPORT_SHOW = 0x100
 3D_Pdf_Export Open 3D_Pdf file in Reader More...
 
const int _3DPDF_EXPORT_RESTART = 0x200
 3D_Pdf_Export ReStart recording, throw away old recordings More...
 
const int _3DPDF_EXPORT_GET_LIC_OPTIONS = 0x400
 3D_Pdf_Export 3D_Pdf license options More...
 
const int _3DPDF_EXPORT_SET_FILE = 0x1000
 3D_Pdf_Export set 3D_Pdf file name More...
 
const int _3DPDF_EXPORT_SET_PASSWORD = 0x2000
 3D_Pdf_Export set 3D_Pdf password More...
 
const int _3DPDF_EXPORT_SET_LABEL = 0x4000
 3D_Pdf_Export set 3D_Pdf label More...
 
const int _3DPDF_EXPORT_SET_KEYFRAMES_MAX = 0x10000
 3D_Pdf_Export set max. number of key frames More...
 
const int _3DPDF_EXPORT_GET_KEYFRAMES = 0x20000
 3D_Pdf_Export get current number of recorded keyframes More...
 
const int _3DPDF_EXPORT_RESET_LAYOUT = 0x100000
 3D_Pdf_Export reset current 3D_Pdf Layout settings, set to default data More...
 
const int _3DPDF_EXPORT_LOAD_LAYOUT_FILE = 0x200000
 3D_Pdf_Export load 3D_Pdf Layout from *.3pl file More...
 
const int _3DPDF_EXPORT_SAVE_LAYOUT_FILE = 0x400000
 3D_Pdf_Export load 3D_Pdf Layout to *.3pl file More...
 
const int _3DPDF_EXPORT_800000 = 0x800000
 3D_Pdf_Export tbd More...
 
const int _3DPDF_EXPORT_PAGE_AREA = 0x1000000
 3D_Pdf_Export Set Page Area: width height More...
 
const int _3DPDF_EXPORT_VIEWPORT_AREA = 0x2000000
 3D_Pdf_Export Set ViewPort Area: left(x) upper(y) width height More...
 
const int _3DPDF_EXPORT_CONTROL_AREA = 0x4000000
 3D_Pdf_Export Set Control Area: left(x) upper(y) width height More...
 
const int _3DPDF_EXPORT_LABEL_FONT_SIZE = 0x8000000
 3D_Pdf_Export Set Label Font Size: Default = 10, valid values are between 1 and 50 More...
 
const int _3DPDF_EXPORT_IMAGE_PATH = 0x10000000
 3D_Pdf_Export Set Path for all Images More...
 
const int _3DPDF_EXPORT_ADD_IMAGE = 0x20000000
 3D_Pdf_Export Add Image: file, left(x) upper(y) width height, Scaling is one of ISO_Stretch = 0 or ISO_CenterFit = 1 More...
 
const int _3DPDF_EXPORT_CREATOR_INFO = 0x40000000
 3D_Pdf_Export Set Creator Info More...
 
const int ROBOT_TYPE_UNDEF = 1
 Device property undefined. More...
 
const int ROBOT_TYPE_ROBOT = 2
 Device is Robot. More...
 
const int ROBOT_TYPE_TOOL = 3
 Device is Tool. More...
 
const int ROBOT_TYPE_TRACK = 4
 Device is Track. More...
 
const int ROBOT_TYPE_CONVEYOR = 5
 Device is Conveyor. More...
 
const int ROBOT_TYPE_POSITIONER = 6
 Device is Positioner. More...
 
const int ROBOT_TYPE_EXTAXIS = 7
 Device is external axis. More...
 
const int ROBOT_TYPE_FIXTURE = 8
 Device is a fixture. More...
 
const int ROBOT_TYPE_ACCESSORY = 9
 Device is an accessory. More...
 
const int ROBOT_TYPE_MISCELLANEOUS = 10
 Device miscellaneous. More...
 
const int ROBOT_TYPE_WORKPIECE = 11
 Device is a work piece. More...
 
const int ROBOT_TYPE_SENSOR = 12
 Device is a sensor. More...
 
const int FWD_REASON_UNKNOWN = 0
 txt_tbd More...
 
const int FWD_REASON_ROB_GRAFIC_UPDATE = 1
 txt_tbd More...
 
const int FWD_REASON_KINEMATICS = 2
 txt_tbd More...
 
const int FWD_REASON_COLLISION = 3
 txt_tbd More...
 
const int FWD_REASON_CAD_EXPORT = 4
 txt_tbd More...
 
const int WARN_OK = 0
 Inverse solution OK. More...
 
const int WARN_SINGULAR = 1
 Robot is in a singularity. More...
 
const int WARN_UNREACH = 2
 Location an reachable. More...
 
const int WARN_CNFG = 3
 Error in configuration. More...
 
const int WARN_NO_INVKIN = 4
 Robot has no inverse kinematics. More...
 
const int WARN_SWE_EXCEED = 5
 Location reachable but travel ranges are exceeded. More...
 
const int EXTAX_AXIS_UNSET =0
 not set -> IPO_PREP->extaxjnt[i] More...
 
const int EXTAX_AXIS_POS =1
 pos axis More...
 
const int EXTAX_AXIS_SPEED =2
 speed axis More...
 
const int EXTAX_MODE_OFF =0x0
 0-no tag_motion or external axis motion More...
 
const int EXTAX_MODE_ON =0x1
 1-extax motion enabled More...
 
const int EXTAX_MODE_TAG =0x1
 1-extax value comes with a Tag More...
 
const int EXTAX_MODE_STD =0x2
 2-extax value in q_linext, q_linext[0] is number of external axis More...
 
const int EXTAX_MODE_USR =0x4
 4-extax specification in q_linext, v_linext, q_linext_idx More...
 
const int IPO_LEADING_POS = 1
 leading position More...
 
const int IPO_LEADING_ORI = 0
 leading orientation More...
 
const int IPO_LEADING_VAR = 2
 variable leading depending on required motion time for position and orientation More...
 
const int PTP_TARGET_CALC_MODE_UNDEF = 0
 default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE More...
 
const int PTP_TARGET_CALC_MODE_SHORTEST_ANGLE = 1
 Solution shortest angle. More...
 
const int PTP_TARGET_CALC_MODE_TURNS = 2
 Solution w.r.t given turns. More...
 
const int PTP_TARGET_CALC_MODE_MATH = 3
 Solution in [-180, 180]. More...
 
const int PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE = 4
 Solution inside valid travel ranges , if possible. More...
 
const int PTP_TARGET_CALC_MODE_VAR_CONFIG = 5
 Nearest solution, will maybe change configuration. More...
 
const float IPO_MIN_PREP_TIME = 0.001f
 Smallest calculated path execution time, if less the robot is already in target location. IPO_IN_POSITION. More...
 
const int IPO_ERROR = -1
 Error during path preparation. More...
 
const int IPO_OK = 0
 Path preparation successful. More...
 
const int IPO_IN_POSITION = 1
 Robot already in target location. More...
 
const int IPO_EXEC_ERROR = -1
 Error during path execution. More...
 
const int IPO_EXEC_OK = 0
 Path execution successful. More...
 
const int IPO_EXEC_CALL_AGAIN = 1
 Path execution is called again. More...
 
const int IPO_EXEC_CALL_AGAIN_NO_UPDATE = 2
 Path execution is called again, without grafic update in between. More...
 
const int IPO_EXEC_STOP = 3
 EASY-ROB stops calling path execution. More...
 
const int AUTOPATH_OK = 0
 AutoPath method successful. More...
 
const int AUTOPATH_ERROR = 1
 Error in AutoPath method. More...
 
const int AUTOPATH_ERROR_VALUE = -1
 Error in AutoPath method. More...
 
const int AUTOPATH_PARAMETER_DYNADJUST = 1
 Dynamic adjust Accuracy: 1-on, 0-off. More...
 
const int AUTOPATH_PARAMETER_ALGORITHM = 2
 Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS. More...
 
const int AUTOPATH_PARAMETER_NTREES = 3
 Number of Trees [2..32]. More...
 
const int AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS = 4
 Minimize number of WayPoints: 1-on, 0-off. More...
 
const int AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR = 5
 Force deterministic behavior: 1-on, 0-off. More...
 
const int AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE = 6
 Limit revolute joints in C-Space: 1-on, 0-off. More...
 
const int AUTOPATH_PARAMETER_THREAD_PRIORITY = 7
 Thread priority: 0-normal, 1-low, 2-high. More...
 
const int AUTOPATH_PARAMETER_OUTPUT_SETTINGS = 8
 Output Settings: 0-Prepend motion.., 1-Append motion.., 2-Insert motion.., 3-Overwrite prev. motion. More...
 
const int AUTOPATH_ALGORITHM_USER_FCT = 1
 Path Planner Algorithm: 1-User Fct. More...
 
const int AUTOPATH_ALGORITHM_RRT_CONNECT = 2
 Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees) More...
 
const int AUTOPATH_ALGORITHM_RTD_BBS = 3
 Path Planner Algorithm: 3-RTD BBS. More...
 
const int AUTOPATH_DLG_PARAMETER_API_CONTROL = 1
 AutoPath controlled via API: 1-on, 0-off. More...
 
const int AUTOPATH_DLG_PARAMETER_SHOW_WINDOW = 2
 Dialog Show Settings: SW_HIDE, SW_SHOWNORMAL, ... More...
 
const int AUTOPATH_DLG_PARAMETER_DISABLE_MSG = 3
 Disable Dlg Message: 1-on, 0-off. More...
 
const int AUTOPATH_RESULT_CHECKS = 1
 Number of Checks during AutoPath calculation. More...
 
const int AUTOPATH_RESULT_SECONDS = 2
 Elapsed time in seconds for AutoPath calculation. More...
 
const int AUTOPATH_RESULT_CPS = 3
 Number of Check per seconds for AutoPath calculation. More...
 
const int AUTOPATH_RESULT_CFREE = 4
 Number of CFree Checks during AutoPath calculation. More...
 
const int AUTOPATH_RESULT_COBSTACLE = 5
 Number of CObstacle Checks during AutoPath calculation. More...
 
const int AUTOPATH_RESULT_CDENSITY = 6
 Density in [%] = Number of CObstacle / (Number of CFree + Number of CObstacle) during AutoPath calculation. More...
 
const int AUTOPATH_RESULT_DSECONDS = 7
 Elapsed time in deciseconds (1/10) for AutoPath calculation. More...
 
const int AUTOPATH_CONSTRAINT_RESET = 0x0
 Reset Constraints to min. and max. travel ranges. More...
 
const int AUTOPATH_CONSTRAINT_MIN = 0x1
 Set ConstraintMin. More...
 
const int AUTOPATH_CONSTRAINT_MAX = 0x2
 Set ConstraintMax. More...
 
const int AUTOPATH_CHK_CONSTRAINT_UNDEF = 0x0
 action parameter is undefined for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_START_DEST = 0x1
 action parameter is StartPose or DestPose for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES = 0x2
 action parameter is Collision for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_COLLISION = 0x4
 action parameter is Collision for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_SWE = 0x8
 action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_CART_SPACE = 0x10
 action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_TBD_20 = 0x20
 action parameter is tbd More...
 
const int AUTOPATH_CHK_CONSTRAINT_TBD_40 = 0x40
 action parameter is tbd More...
 
const int AUTOPATH_CHK_CONSTRAINT_TBD_80 = 0x80
 action parameter is tbd More...
 
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_1 = 0x100
 action parameter chk constraint for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_2 = 0x200
 action parameter chk constraint for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_CHK_CONSTRAINT_TBD_400 = 0x400
 action parameter is tbd More...
 
const int AUTOPATH_CHK_CONSTRAINT_TBD_800 = 0x800
 action parameter is tbd More...
 
const int AUTOPATH_STATUS_MP_START = 0x1000
 AutoPath calculation started. More...
 
const int AUTOPATH_STATUS_MP_ABORT = 0x2000
 AutoPath calculation aborted. More...
 
const int AUTOPATH_STATUS_MP_SUCCESS = 0x4000
 AutoPath calculation successful. More...
 
const int AUTOPATH_STATUS_MP_FAILURE = 0x8000
 AutoPath calculation failed. More...
 
const int AUTOPATH_STATUS_MP_IDLE = 0x10000
 AutoPath is idle. More...
 
const int AUTOPATH_STATUS_MP_RUNNING = 0x20000
 AutoPath in process. More...
 
const int START_CONDITION_RESET = 0x1
 Start Condition Reset status to start condition. More...
 
const int START_CONDITION_SAVE = 0x2
 Start Condition Save current status to start condition. More...
 
const int START_CONDITION_CURRENT_ROBOT = 0x4
 Start Condition for current Robot. More...
 
const int START_CONDITION_FOR_ALL_ROBOTS = 0x8
 Start Condition for all Robots. More...
 
const int START_CONDITION_ROBOT_JOINTS = 0x10
 Start Condition Robot Joints. More...
 
const int START_CONDITION_ROBOT_REFERENCE = 0x20
 Start Condition Robot Reference. More...
 
const int START_CONDITION_ROBOT_BASE_POSITION = 0x40
 Start Condition Robot Base Position. More...
 
const int START_CONDITION_ROBOT_TOOL_DATA = 0x80
 Start Condition Robot Tool data. More...
 
const int START_CONDITION_ROBOT_RENDER = 0x100
 Start Condition Robot Render. More...
 
const int START_CONDITION_ROBOT_TOOL_RENDER = 0x200
 Start Condition Robot Tool Render. More...
 
const int START_CONDITION_ROBOT_BODIES = 0x400
 Start Condition all Robot bodies. More...
 
const int START_CONDITION_TOOL_BODIES = 0x800
 Start Condition all Tool bodies. More...
 
const int START_CONDITION_ENVIRONMENT_BODIES = 0x1000
 Start Condition all Environment bodies. More...
 
const int START_CONDITION_WOBJ_POSITION = 0x10000
 Start Condition Wobj Position. More...
 
const int START_CONDITION_TAG_POSITION = 0x20000
 Start Condition Tag Position. More...
 
const int START_CONDITION_PATH = 0x40000
 Start Condition Condition current Path. More...
 
const int START_CONDITION_ALL_PATHES = 0x80000
 Start Condition all Pathes. More...
 
const int START_CONDITION_ALL = START_CONDITION_ROBOT_JOINTS | START_CONDITION_ROBOT_REFERENCE | START_CONDITION_ROBOT_BASE_POSITION | START_CONDITION_ROBOT_TOOL_DATA | START_CONDITION_ROBOT_RENDER | START_CONDITION_ROBOT_TOOL_RENDER | START_CONDITION_ROBOT_BODIES | START_CONDITION_TOOL_BODIES | START_CONDITION_ENVIRONMENT_BODIES
 Start Condition pre definition for all settings. More...
 
const int START_CONDITION_RESET_CURRENT_ROBOT = START_CONDITION_RESET | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL
 Start Condition Reset for current Robots + Environment. More...
 
const int START_CONDITION_SAVE_CURRENT_ROBOT = START_CONDITION_SAVE | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL
 Start Condition Save for current Robots + Environment. More...
 
const int START_CONDITION_RESET_ALL_ROBOTS = START_CONDITION_RESET | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL
 Start Condition Reset for all Robots + Environment. More...
 
const int START_CONDITION_SAVE_ALL_ROBOTS = START_CONDITION_SAVE | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL
 Start Condition Save for all Robots + Environment. More...
 
const int RUN_MODUS = 1
 Program running. More...
 
const int STOP_MODUS = 2
 Program runing and on hold. More...
 
const int ABORT_MODUS = 0
 Program not runnning, aborted. More...
 
const int CHK_NOM_VALUES_SWE = 0x1
 Bit 1 Travel range (joint limits) are exceeded. More...
 
const int CHK_NOM_VALUES_SPEED = 0x2
 Bit 2 Joint speeds are exceeded. More...
 
const int CHK_NOM_VALUES_ACCEL = 0x4
 Bit 3 Joint accelerations are exceeded. More...
 
const int CHK_NOM_VALUES_COLLISION = 0x8
 Bit 4 Workcell collision occured. More...
 
const int CHK_NOM_VALUES_CART_SPACE = 0x10
 Bit 5 Cartesian space exceeded. More...
 
const int CHK_NOM_VALUES_ALL = 0xffff
 Bit 1-16. More...
 
const int COLL_PAIRS_MAX = 96
 max. number of stored collision pairs More...
 
const int ERC_ONOFF_DISABLE = 0
 disable flag, see ER_CAPI_SIM_ERPL::erc_onoff More...
 
const int ERC_ONOFF_ENABLE = 1
 enable flag, ER_CAPI_SIM_ERPL::erc_onoff More...
 
const int ERC_ONOFF_STATUS = 2
 request current flag status, result ERC_ONOFF_DISABLE, ERC_ONOFF_ENABLE More...
 
const int ERC_TRACK = 1
 Enable/disable Tcp Trace for cRobot. More...
 
const int ERC_DYNAMICS = 2
 Enable/disable Dynamics. More...
 
const int ERC_STOP_SWE = 3
 Enable/disable stop if joint limits exceeded. More...
 
const int ERC_STOP_SPEED = 4
 Enable/disable stop if joint speeds exceeded. More...
 
const int ERC_STOP_ACCEL = 5
 Enable/disable stop if joint accels exceeded. More...
 
const int ERC_COLLISION = 6
 Enable/disable Collision. More...
 
const int ERC_STOP_COLLISION = 7
 Enable/disable stop if collision occured. More...
 
const int ERC_STOP_UNREACH = 8
 Enable/disable stop if unreachable target. More...
 
const int ERC_FLOOR = 9
 Enable/disable Floor. More...
 
const int ERC_FLOOR_RENDER = 10
 Enable/disable Floor render wire or flat. More...
 
const int ERC_RENDER_BBOX = 11
 Enable/disable Render all geometries in bBox. More...
 
const int ERC_ORTHOGRAFIC = 12
 Enable/disable Orthografic. More...
 
const int ERC_DISPLAY_ROBOTS = 13
 Enable/disable Display robots. More...
 
const int ERC_DISPLAY_ROBOT_COORSYS = 14
 Enable/disable Display robots coorsys. More...
 
const int ERC_DISPLAY_TOOLS = 15
 Enable/disable Display tools. More...
 
const int ERC_DISPLAY_BODIES = 16
 Enable/disable Display bodies, i.e. environment geometries. More...
 
const int ERC_DISPLAY_TAGS = 17
 Enable/disable Display Tags. More...
 
const int ERC_TCP_COORSYS = 18
 Enable/disable Show tcp coorsys. More...
 
const int ERC_IPO_COORSYS = 19
 Enable/disable Show ipo coorsys. More...
 
const int ERC_BASE_COORSYS = 20
 Enable/disable Show device base coorsys. More...
 
const int ERC_ROBOT_COORSYS = 21
 Enable/disable Show robots coorsys. More...
 
const int ERC_EXT_TCP = 22
 Enable/disable Show external Tcp coorsys. More...
 
const int ERC_RESET_ALL_POSITIONS_JOINTS = 23
 Enable/disable Reset to start condition when program starts. More...
 
const int ERC_NO_DECEL = 24
 Enable/disable no decelaration, to achieve move through. More...
 
const int ERC_GRAFIC_UPDATE = 25
 Enable/disable Grafics update. More...
 
const int ERC_CREATE_TARGET_TAGS = 26
 Enable/disable Creating Tags at target location. More...
 
const int ERC_STATUS_OUTPUT = 27
 Enable/disable status out, e.g. joint data at each simulation step. More...
 
const int ERC_INTERPOLATION = 28
 Enable/disable Interpolation, if disabled the robot will jump to the target. More...
 
const int ERC_LEADING_POSITION = 29
 Enable/disable Leading position (Interpolation) More...
 
const int ERC_REALTIME_SIM = 30
 Enable/disable Realtime simulation, results in permanent modification of sim step size. More...
 
const int ERC_BACKFACES = 31
 Enable/disable Backface culling. More...
 
const int ERC_CAMERA = 32
 Enable/disable Camera View. More...
 
const int ERC_USE_TAG_ATTRIBUTES = 33
 Enable/disable Use Tag attributes. More...
 
const int ERC_IPO_STEP_LOOP = 34
 Enable/disable If enabled, grafics update performed at every interpolation step. More...
 
const int ERC_TAG_TEXT = 35
 Enable/disable Show Tag Text. More...
 
const int ERC_TAG_LINE_CONNECT = 36
 Enable/disable Show Tag connection line, depending on motion type. More...
 
const int ERC_DISPLAY_BODYS_COORSYS = 37
 Enable/disable Display bodies coorsys. More...
 
const int ERC_DISPLAY_ALL_COORSYS = 38
 Enable/disable Display all available coorsys. More...
 
const int ERC_DISPLAY_CROBOT = 39
 Enable/disable Display current Robot/Device. More...
 
const int ERC_DISPLAY_CTOOL = 40
 Enable/disable Display current Tool. More...
 
const int ERC_COLLISION_CROBOT = 41
 Enable/disable Collision for current Robot. More...
 
const int ERC_COLLISION_CTOOL = 42
 Enable/disable Collision for current Tool. More...
 
const int ERC_COLLISION_CROBOT_REF = 43
 Enable/disable Reference collision for current Robot. More...
 
const int ERC_ENABLE_CROBOT = 44
 Enable/disable current robot, e.g. to deactivate cRobot. More...
 
const int ERC_WORLD_COORSYS = 45
 Enable/disable World coorsys. More...
 
const int ERC_COI_RENDER = 46
 Enable/disable Show Center Of Interest. More...
 
const int ERC_MOUSE_GRF_UPDATE = 47
 Enable/disable Grafics update as a result of mouse movement. More...
 
const int ERC_STOP_CART_SPACE = 48
 Enable/disable stop if cartesian space exceeded. More...
 
const int ERC_SHOW_CART_SPACE = 49
 Enable/disable cartesian space for cRobot. More...
 
const int ERC_TRACKS = 50
 Enable/disable Tcp Trace for all Robots. More...
 
const int ERC_TRACKS_ATTRIBUTES = 51
 Enable/disable Tcp Trace Attributes for all Robots. More...
 
const int ERC_TRACK_ATTRIBUTES = 52
 Enable/disable Tcp Trace Attributes for cRobots. More...
 
const int ERC_VIEW_CHOREOGRAPHY = 53
 Enable/disable View choreography. More...
 
const int ERC_3D_PDF_EXPORT_ERCL = 54
 Enable/disable 3D Pdf Export trough ERCL. More...
 
const int ERC_TCP_JOG_COORSYS = 55
 Enable/disable Show tcp jog coorsys for cRobot with inverse kinematics. More...
 
const int ERC_DISPLAY_CTAG = 56
 Enable/disable Display current selected Tag. More...
 
const int ERC_RUN_REPEAT = 57
 Enable/disable automatically program repeat. More...
 
const int ERC_COLLISION_CROBOT_ITSELF = 58
 Enable/disable Itself collision for current Robot. More...
 
const int TAG_MOTYPE_DEF = 0
 motion type default, i.e. use current motion type More...
 
const int TAG_MOTYPE_PTP = 1
 motion type PTP More...
 
const int TAG_MOTYPE_LIN = 2
 motion type LIN More...
 
const int TAG_MOTYPE_CIRC = 3
 motion type CIRC More...
 
const int TAG_MOTYPE_VIA = 4
 motion type VIA More...
 
const int TAG_MOTYPE_SLEW = 5
 motion type SLEW More...
 
const int UNDEF_CAD_TYPE = 0
 undefined CAD type More...
 
const int CUBE_CAD_TYPE = 1
 X, Y, Height. More...
 
const int PYRAMID_CAD_TYPE = 2
 X, Y, Height, dx, dy. More...
 
const int WEDGE_CAD_TYPE = 3
 X, Y, Height X top, Y top, dx dy. More...
 
const int CYLINDER_CAD_TYPE = 4
 Radius, Height 1, y Scale, Radius top, Height 2, y Scale top, dx, dy, Angle. More...
 
const int CONE_CAD_TYPE = 5
 Radius, Height 1, y Scale, dx, dy, Angle. More...
 
const int SPHERE_CAD_TYPE = 6
 Radius, y Scale, Angle, beta 1, beta 2. More...
 
const int VRML_CAD_TYPE = 8
 X, Y, Z scale. More...
 
const int IGP_CAD_TYPE = 9
 X, Y, Z scale. More...
 
const int STL_CAD_TYPE = 11
 X, Y, Z scale;. More...
 
const int _3DS_CAD_TYPE = 12
 X, Y, Z scale;. More...
 
const int COLOR_USE_USER = 0x1
 USER color are saved with cel or rob file. More...
 
const int COLOR_USE_FIX = 0x2
 Note: FIX color are only temporarly. More...
 
const int COLOR_USE_FIX_IDX = 0x4
 Changes all objects with FIX color and with 'color_idx2change' to rgba_color. More...
 
const int ER_CAD_MEM_VBO = 1
 geometry memory model VBO loads optimized geometry into grafics board, default More...
 
const int ER_CAD_MEM_GRAHICS = 2
 geometry memory model GRAHICS Vertices are optimized, builds OpenGL arrays More...
 
const int ER_CAD_MEM_NATIVE_CPU = 3
 geometry memory model NATIVE_CPU keep geometry as read from file, no optimization More...
 
const int ER_CAD_RENEW_UNDEF = 0x0
 geometry renewing, no action More...
 
const int ER_CAD_RENEW_GEOMETRY = 0x1
 geometry renewing, refresh geometry depending on geometry memory model VBO, GRAHICS or NATIVE_CPU More...
 
const int ER_CAD_RENEW_COLLISION = 0x2
 geometry renewing, reconstruct collision model More...
 
const int ER_CAD_RENEW_DEL_COLLISION = 0x4
 geometry renewing, delete collision model More...
 
const int ER_CAD_RENEW_DEFAULT = ER_CAD_RENEW_GEOMETRY | ER_CAD_RENEW_COLLISION
 geometry renewing, default setting More...
 
const int MERGE_MAX_NUMBER_OF_PPO_100 = 100000
 Object is limited by 100.000 polygons per object. More...
 
const int MERGE_MAX_NUMBER_OF_PPO_200 = 200000
 Object is limited by 200.000 polygons per object. More...
 
const int MERGE_ATTIB_UNDEF = 0x0
 No attributes sets, MERGE_ATTIB_PPO_LIMIT_100 is internally set per default. More...
 
const int MERGE_ATTIB_CONFIRM_IF_FILE_EXIST = 0x1
 User is prompted to confirm if the igp file name already exist. More...
 
const int MERGE_ATTIB_SAVE_BINARY_IGP = 0x2
 Save binary igp. More...
 
const int MERGE_ATTIB_SKIP_LINES = 0x10
 Skip lines for all objects if exist. More...
 
const int MERGE_ATTIB_NO_PPO_LIMIT = 0x100
 The number of Polygons per object 'PpO' is NOT limited. More...
 
const int MERGE_ATTIB_PPO_LIMIT_100 = 0x200
 The number of Polygons per object 'PpO' is limited by MERGE_MAX_NUMBER_OF_PPO_100. More...
 
const int MERGE_ATTIB_PPO_LIMIT_200 = 0x400
 The number of Polygons per object 'PpO' is limited by MERGE_MAX_NUMBER_OF_PPO_200. More...
 
const int MERGE_ATTIB_DEFAULT = MERGE_ATTIB_SKIP_LINES | MERGE_ATTIB_PPO_LIMIT_100
 
const int CONVERT_CAD_DEFAULT = 0x0
 CONVERT_CAD_MSG_WARNING, CONVERT_CAD_HEAL, CONVERT_CAD_SEW. More...
 
const int CONVERT_CAD_MSG_VERBOSE = 0x1
 Shows all messages during CAD import or conversion. More...
 
const int CONVERT_CAD_MSG_WARNING = 0x2
 Shows warning messages during CAD import or conversion. More...
 
const int CONVERT_CAD_MSG_SILENT = 0x4
 Suppress messages during CAD import or conversion. More...
 
const int CONVERT_CAD_TESSELATION_RESET = 0x10
 Reset to origin Tesselation. More...
 
const int CONVERT_CAD_TESSELATION_COARSE = 0x20
 Reduce Tesselation, coarse. More...
 
const int CONVERT_CAD_TESSELATION_FINE = 0x40
 Increase Tesselation, more fine. More...
 
const int CONVERT_CAD_HEAL = 0x100
 Healing. More...
 
const int CONVERT_CAD_SEW = 0x200
 Sewing. More...
 
const int CONVERT_CAD_USR_COLOR = 0x400
 User Color, allows to change the geometry color in EASY-ROB afterwards. More...
 
const int ER_INVISIBLE = -2
 standard color invisible More...
 
const int ER_ALTERNATE = -1
 standard color alternating More...
 
const int ER_BLACK = 0
 standard color black More...
 
const int ER_BLUE = 1
 standard color blue More...
 
const int ER_GREEN = 2
 standard color green More...
 
const int ER_CYAN = 3
 standard color cyan More...
 
const int ER_RED = 4
 standard color red More...
 
const int ER_MAGENTA = 5
 standard color magenta More...
 
const int ER_ORANGE = 6
 standard color orange (ER_BROWN) More...
 
const int ER_LGRAY = 7
 standard color light grey More...
 
const int ER_GRAY = 8
 standard color grey More...
 
const int ER_LBLUE = 9
 standard color light blue More...
 
const int ER_LGREEN = 10
 standard color light green More...
 
const int ER_LCYAN = 11
 standard color light cyan More...
 
const int ER_LRED = 12
 standard color light red More...
 
const int ER_VIOLETT = 13
 standard color violett More...
 
const int ER_YELLOW = 14
 standard color yellow More...
 
const int ER_WHITE = 15
 standard color white More...
 
const int ROT_IDENT = 0
 Rotoation set to identity. More...
 
const int ROT_X = 1
 Rotoation about X axis. More...
 
const int ROT_Y = 2
 Rotoation about Y axis. More...
 
const int ROT_Z = 3
 Rotoation about Z axis. More...
 
const int ROT_XYZ = 1
 RotX*RotY*RotZ, EASY-ROB, Staeubli CS8. More...
 
const int ROT_ZYX = 2
 RotZ*RotY*RotX, KUKA, Reis, Kobelco. More...
 
const int ROT_YXZ = 3
 RotY*RotX*RotZ, BOSCH. More...
 
const int ROT_ZYZ = 4
 RotZ*RotY*RotZ, Staeubli CS7. More...
 
const int ROT_XYX = 5
 txt_tbd More...
 
const int ROT_RPY = 6
 Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso. More...
 
const int ROT_QUAT = 7
 Quaternion, ABB. More...
 
const int ROT_CA = 8
 Tricept C-RotZ, A-RotX, NC. More...
 
const int ROT_ZYpZ = 9
 RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, COMAU C5G, Euler. More...
 
const int ROT_Y9XZ = 10
 RotY*RotX*RotZ,b+m T1 xx7xx, [-90..+90] [-180..+180] [-180..+180] (~BOSCH) More...
 
const int ROT_Z9XY = 11
 RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180]. More...
 
const int ROT_Z9XZ = 12
 RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180]. More...
 
const int ROT_Z9YX = 13
 RotZ*RotY*RotX,b+m T1 xx4xx, [-90..+90] [-180..+180] [-180..+180] (~KUKA) More...
 
const int ROT_IJK = 14
 Approach Axis. More...
 
const int ROT_ANGLE_1 = 15
 One Axis Angle. More...
 
const int ROT_IDX_EASY_ROB = ROT_XYZ
 Rotation notation EASY-ROB RxRy'Rz''. More...
 
const int ROT_IDX_STAUBLI_CS8 = ROT_XYZ
 Rotation notation Staubli CS8 RxRy'Rz''. More...
 
const int ROT_IDX_BOSCH = ROT_YXZ
 Rotation notation Bosch RyRz'Rx''. More...
 
const int ROT_IDX_KUKA = ROT_ZYX
 Rotation notation Kuka RzRy'Rx''. More...
 
const int ROT_IDX_REIS = ROT_ZYX
 Rotation notation Reis RzRy'Rx''. More...
 
const int ROT_IDX_KOBELCO = ROT_ZYX
 Rotation notation Kobelco RzRy'Rx''. More...
 
const int ROT_IDX_STAUBLI_CS7 = ROT_ZYZ
 Rotation notation Staubli CS7 RzRy'Rz''. More...
 
const int ROT_IDX_FANUC = ROT_RPY
 Rotation notation Fanuc Roll Pitch Yaw. More...
 
const int ROT_IDX_DENSO = ROT_RPY
 Rotation notation Denso Roll Pitch Yaw. More...
 
const int ROT_IDX_ABB = ROT_QUAT
 Rotation notation ABB Quaternions. More...
 
const int ROT_IDX_NC = ROT_CA
 Rotation notation C-RotZ, A-RotX. More...
 
const int ROT_IDX_BM = ROT_ZYpZ
 Rotation notation b+m Surface Systems RzRy'Rz''. More...
 
const int ROT_IDX_COMAU_C4G = ROT_ZYpZ
 Rotation notation Comau RzRy'Rz''. More...
 
const int ROT_IDX_MITSUBISHI = ROT_RPY
 Rotation notation Mitsubishi Roll Pitch Yaw. More...
 
const int ROT_IDX_OTC = ROT_RPY
 Rotation notation OTC Roll Pitch Yaw. More...
 
const int ROT_IDX_UR = ROT_ANGLE_1
 Rotation notation one axis angle. More...
 
const int ERGL_UNDEF = 0x0
 no operation More...
 
const int ERGL_MATERIAL_AMBIENT = 0x1
 request for 'ergl_param' material ambient More...
 
const int ERGL_MATERIAL_DIFFUSE = 0x2
 request for 'ergl_param' material diffuse More...
 
const int ERGL_MATERIAL_SPECULAR = 0x4
 request for 'ergl_param' material specular More...
 
const int ERGL_MATERIAL_EMISSION = 0x8
 request for 'ergl_param' material emission More...
 
const int ERGL_LIGHT_1_POSITION = 0x10
 request for 'ergl_param' light position 1 More...
 
const int ERGL_LIGHT_2_POSITION = 0x20
 request for 'ergl_param' light position 2 More...
 
const int ERGL_LIGHT_3_POSITION = 0x40
 request for 'ergl_param' light position 3 More...
 
const int ERGL_LIGHT_4_POSITION = 0x80
 request for 'ergl_param' light position 4 More...
 
const int ERGL_LIGHT_ALL_POSITION = ERGL_LIGHT_1_POSITION | ERGL_LIGHT_2_POSITION | ERGL_LIGHT_3_POSITION | ERGL_LIGHT_4_POSITION
 request for 'ergl_param' for all light positions More...
 
const int ERGL_LIGHT_1_ENABLE = 0x100
 request for 'ergl_param' light enable 1 More...
 
const int ERGL_LIGHT_2_ENABLE = 0x200
 request for 'ergl_param' light enable 2 More...
 
const int ERGL_LIGHT_3_ENABLE = 0x400
 request for 'ergl_param' light enable 3 More...
 
const int ERGL_LIGHT_4_ENABLE = 0x800
 request for 'ergl_param' light enable 4 More...
 
const int ERGL_LIGHT_ALL_ENABLE = ERGL_LIGHT_1_ENABLE | ERGL_LIGHT_2_ENABLE | ERGL_LIGHT_3_ENABLE | ERGL_LIGHT_4_ENABLE
 request for 'ergl_param' light all enable More...
 
const int ERGL_LIGHT_1_AMBIENT = 0x1000
 request for 'ergl_param' light 1 ambient value More...
 
const int ERGL_LIGHT_2_AMBIENT = 0x2000
 request for 'ergl_param' light 2 ambient value More...
 
const int ERGL_LIGHT_3_AMBIENT = 0x4000
 request for 'ergl_param' light 3 ambient value More...
 
const int ERGL_LIGHT_4_AMBIENT = 0x8000
 request for 'ergl_param' light 4 ambient value More...
 
const int ERGL_LIGHT_1_DIFFUSE = 0x10000
 request for 'ergl_param' light 1 diffuse value More...
 
const int ERGL_LIGHT_2_DIFFUSE = 0x20000
 request for 'ergl_param' light 2 diffuse value More...
 
const int ERGL_LIGHT_3_DIFFUSE = 0x40000
 request for 'ergl_param' light 3 diffuse value More...
 
const int ERGL_LIGHT_4_DIFFUSE = 0x80000
 request for 'ergl_param' light 4 diffuse value More...
 
const int ERGL_LIGHT_1_SPECULAR = 0x100000
 request for 'ergl_param' light 1 specular value More...
 
const int ERGL_LIGHT_2_SPECULAR = 0x200000
 request for 'ergl_param' light 2 specular value More...
 
const int ERGL_LIGHT_3_SPECULAR = 0x400000
 request for 'ergl_param' light 3 specular value More...
 
const int ERGL_LIGHT_4_SPECULAR = 0x800000
 request for 'ergl_param' light 4 specular value More...
 
const int ERGL_LIGHT_1_EMISSION = 0x1000000
 request for 'ergl_param' light 1 emission value More...
 
const int ERGL_LIGHT_2_EMISSION = 0x2000000
 request for 'ergl_param' light 2 emission value More...
 
const int ERGL_LIGHT_3_EMISSION = 0x4000000
 request for 'ergl_param' light 3 emission value More...
 
const int ERGL_LIGHT_4_EMISSION = 0x8000000
 request for 'ergl_param' light 4 emission value More...
 
const int ERGL_ALL_ATTRIBUTES = 0xFFFFFFF
 useful for ERGL_MODE_SET More...
 
const int ERGL_MODE_UNDEF = 0x0
 no operation More...
 
const int ERGL_MODE_INQ = 0x1
 return address of requested 'ergl_param' data More...
 
const int ERGL_MODE_RESET = 0x2
 reset to initial value for requested 'ergl_param' data More...
 
const int ERGL_MODE_SET = 0x4
 transfer all current data to opengl More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF = 0
 Request Idx undefined. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_LIST = 1
 List all system folder and directories in a message window. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_CONIFG_FILE = 10
 configuration file 'config.dat', resides in Application directory More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_LICENSE_FILE = 11
 license file 'license.dat', resides in 'LICENSE=' definition in config.dat More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_MONITORING_FILE = 12
 monitoring file 'moni_msg.txt', resides in TMPDIR More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_ENVIRONMENT_FILE = 13
 environment file 'easy-rob.env', resides in USRDIR More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_PATHES_FILE = 14
 working pathes file 'easy-rob.pth', resides in USRDIR More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_FILE = 15
 Device Manager: Load from Library file 'er_LoadFromLibPb.ini', resides in USRDIR. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_PREFERRED_FILE = 16
 Device Manager: Load from Library Preferred file 'er_LoadFromLibPb_prefered.ini', resides in USRDIR. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_APPLICATION_DIR = 101
 Application directory. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_DIR = 102
 current working directory More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_USR_DIR = 103
 User directory, defined in config.dat, individual or depending on environment variable USERPROFILE%. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_TMP_DIR = 104
 Temp directory, defined in config.dat, individual or depending on environment variable TMP%. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_KERNEL_IO_DIR = 105
 Kernel IO, defined in config.dat. More...
 
const int SYS_SYSTEM_FOLDER_DIRECTORY_EDIT_PRG = 201
 Editor program, defined in config.dat. More...
 
const int ER_LIC_STD_BASIC = 1
 License BASIC. More...
 
const int ER_LIC_STD_ERC = 2
 License ERC. More...
 
const int ER_LIC_STD_COLL = 3
 License COLLISION. More...
 
const int ER_LIC_STD_LIB = 4
 License Device Manager. More...
 
const int ER_LIC_STD_ROBMOD = 5
 License Robot Modelling. More...
 
const int ER_LIC_STD_NUMSOL = 6
 License Numerical solution for inverse kinematics. More...
 
const int ER_LIC_API_INV = 7
 License API Inverse kinematics. More...
 
const int ER_LIC_API_IPO = 8
 License API Interpolation. More...
 
const int ER_LIC_API_DYN = 9
 License API Dynamics. More...
 
const int ER_LIC_OPT_OLP = 10
 License Offline Programming, tbd. More...
 
const int ER_LIC_OPT_RRS = 11
 License RRS, tbd. More...
 
const int ER_LIC_OPT_NC = 12
 License NC Simulation. More...
 
const int ER_LIC_OPT_NC2RC = 13
 License NC to Robot Program conversion. More...
 
const int ER_LIC_API_INT = 14
 License API Interpreter. More...
 
const int ER_LIC_API_PP = 15
 License API Post Processor. More...
 
const int ER_LIC_API_FWD = 16
 License API forward kinematics. More...
 
const int ER_LIC_ROB_KUKA = 17
 License RobotLib KUKA, Reis. More...
 
const int ER_LIC_ROB_STAUBLI = 18
 License RobotLib Staubli, Bosch, Manz. More...
 
const int ER_LIC_OPT_RUNTIME = 19
 License Runtime. More...
 
const int ER_LIC_ROB_TRICEPT = 20
 License RobotLib Tricept. More...
 
const int ER_LIC_ROB_ABB = 21
 License RobotLib ABB. More...
 
const int ER_LIC_ROB_MOTOMAN = 22
 License RobotLib Motoman, Yaskawa. More...
 
const int ER_LIC_ROB_FANUC = 23
 License RobotLib Fanuc. More...
 
const int ER_LIC_ROB_PKM_DELTA = 25
 License RobotLib Parallel Kinematics Machines PKM Delta. More...
 
const int ER_LIC_OPT_MULTI_KIN = 26
 License Multi Kinematics. More...
 
const int ER_LIC_OPT_AUTOPATH = 27
 License AutoPath, collision free path detection. More...
 
const int ER_LIC_OPT_MULTI_PROG = 28
 License Multi Program. More...
 
const int ER_LIC_ROB_KAWASAKI = 31
 License RobotLib Denso, Mitsubishi, Kawasaki. More...
 
const int ER_LIC_ROB_COMAU = 32
 License RobotLib Adept, Comau, Guedel, Eisenmann. More...
 
const int ER_LIC_OPT_REMOTE = 101
 License Remote Control. More...
 
const int ER_LIC_API_UDLL = 102
 License API User DLL. More...
 
const int ER_LIC_OPT_MATLAB = 103
 License Matlab. More...
 
const int ER_LIC_OPT_MATLAB_REMOTE = 104
 License Matlab Remote Control. More...
 
const int USER_DLL_CALLBACK_AUXUPDATE_MAX = 12
 Max number of callback fct for AuxUpdate, see set_callback_AuxUpdate. More...
 
const int USER_DLL_CALLBACK_PROGLINEUPDATE_MAX = 12
 Max number of callback fct for ProglineUpdate, see set_callback_ProglineUpdate. More...
 
const int AUX_UPDATE_IDX_LICENSE_ERROR = -1
 License Error. More...
 
const int AUX_UPDATE_IDX_EXIT = 0
 Application on exit. More...
 
const int AUX_UPDATE_IDX_SIMUPDATE = 1
 Grafical update, i.e. if the user navigate the 3D scene. More...
 
const int AUX_UPDATE_IDX_LOAD_CELL = 2
 Cell is loaded. More...
 
const int AUX_UPDATE_IDX_LOAD_ROBOT = 3
 Robot is loaded. More...
 
const int AUX_UPDATE_IDX_LOAD_TOOL = 4
 Tool for cRobot is loaded. More...
 
const int AUX_UPDATE_IDX_LOAD_PROGRAM = 5
 Program file for cRobot is loaded. More...
 
const int AUX_UPDATE_IDX_LOAD_MIMIC = 6
 Mimic file for cRobot is loaded. More...
 
const int AUX_UPDATE_IDX_LOAD_BODY = 7
 Bodies or Geometries are loaded. More...
 
const int AUX_UPDATE_IDX_TAGUPDATE = 8
 Tag location is modified or updated. More...
 
const int AUX_UPDATE_IDX_SWE_EXCEEDED = 9
 At least one axis exceeds its maximum allowed travel ranges. More...
 
const int AUX_UPDATE_IDX_SPEED_EXCEEDED = 10
 At least one axis exceeds its maximum allowed axis speed. More...
 
const int AUX_UPDATE_IDX_ACCEL_EXCEEDED = 11
 At least one axis exceeds its maximum allowed axis acceleration. More...
 
const int AUX_UPDATE_IDX_UNREACH = 12
 Target location is not reachable. More...
 
const int AUX_UPDATE_IDX_COLLISION = 13
 Workcell collision. More...
 
const int AUX_UPDATE_IDX_PRG_RUN = 14
 Program or single program step is startet. More...
 
const int AUX_UPDATE_IDX_PRG_STOP = 15
 Program run is stopped. More...
 
const int AUX_UPDATE_IDX_PRG_CONT = 16
 Program run is continued. More...
 
const int AUX_UPDATE_IDX_PRG_ABORT = 17
 Program run is aborted, obsolete use AUX_UPDATE_IDX_PRG_ABORT_POST instead. More...
 
const int AUX_UPDATE_IDX_PRG_ABORT_POST = 10017
 Program run is completely aborted, all threads stopped .... More...
 
const int AUX_UPDATE_IDX_IPO_UPDATE = 18
 Interpolation loop, depending on trajectory planner execution sampling rate. More...
 
const int AUX_UPDATE_IDX_CNTRL_UPDATE = 19
 Controller loop, depending on contoller sampling rate. More...
 
const int AUX_UPDATE_IDX_SYS_UPDATE = 20
 Modell loop, depending on modell sampling rate. More...
 
const int AUX_UPDATE_IDX_UNLOAD_CELL = 21
 Cell is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_ROBOT = 22
 Robot is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_TOOL = 23
 Tool for cRobot is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_PROGRAM = 24
 Program file for cRobot is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_MIMIC = 25
 Mimic file for cRobot is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_BODY = 26
 Bodies or Geometries are unloaded. More...
 
const int AUX_UPDATE_IDX_LOAD_PATHES = 27
 A Path is loaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_TAG = 28
 A Tag is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_PATH = 29
 A Path is unloaded. More...
 
const int AUX_UPDATE_IDX_UNLOAD_PATHES = 30
 All Pathes are unloaded. More...
 
const int AUX_UPDATE_IDX_OPENGL = 31
 Allows the API programmer to run some OpenGL commands before EASY-ROB draw its 3D scene. More...
 
const int AUX_UPDATE_IDX_OPENGL_POST = 10031
 Allows the API programmer to run some OpenGL commands after EASY-ROB draw its 3D scene. More...
 
const int AUX_UPDATE_IDX_SELECTION_NOHIT = 32
 If picking mode is activ, the user hit nothing. More...
 
const int AUX_UPDATE_IDX_SELECTION_HIT = 33
 If picking mode is activ, the user hit something. More...
 
const int AUX_UPDATE_IDX_SET_NEXT_TARGET = 36
 prepare next motion More...
 
const int AUX_UPDATE_IDX_NEED_MORE_DATA = 38
 trajectory planner, need more data More...
 
const int AUX_UPDATE_IDX_TARGET_REACHED = 39
 trajectory planner, target reached More...
 
const int AUX_UPDATE_IDX_IPO_ERROR = 40
 trajectory planner, detects error More...
 
const int AUX_UPDATE_IDX_SAVE_CELL = 41
 Cell was saved (.cel file) More...
 
const int AUX_UPDATE_IDX_SAVE_ROBOT = 42
 cRobot was saved (.rob file) More...
 
const int AUX_UPDATE_IDX_SAVE_TOOL = 43
 Tool was saved (.tol file) More...
 
const int AUX_UPDATE_IDX_SAVE_PROGRAM = 44
 Program for cRobot was saved (.prg) More...
 
const int AUX_UPDATE_IDX_SAVE_MIMIC = 45
 Mimic for cRobot was saved (.mmc), used for machine interface command, i.e. G-Code -> ERPL, ERCL. More...
 
const int AUX_UPDATE_IDX_SAVE_BODY = 46
 Bodies are saved (.bod file) More...
 
const int AUX_UPDATE_IDX_SAVE_CPATH = 47
 cPath was saved in one tag file (*.tag file) More...
 
const int AUX_UPDATE_IDX_SAVE_PATHES = 48
 All Pathes are saved in one tag file (*.tag file) More...
 
const int AUX_UPDATE_IDX_SET_FOCUS = 49
 The EASY-ROB window gets the focus. More...
 
const int AUX_UPDATE_IDX_AUTOPATH = 50
 AutoPath Feedback. More...
 
const int AUX_UPDATE_IDX_S3DM_EVENT = 51
 3D Space Mouse Event More...
 
const int AUX_UPDATE_IDX_UDLL_DLG_IDX = 52
 Sets the UserDll dialog index [1..], called immediatly after OpenDialog is called. More...
 
const int AUX_UPDATE_IDX_CART_SPACE_EXCEEDED = 53
 Robot exceeds the cartesian space with its Tcp location or its bBox geometries. More...
 
const int AUX_UPDATE_IDX_LOAD_GEO_ERROR = 54
 Geometry file (IGP, STL or 3DS) not found during load. More...
 
const int AUX_UPDATE_IDX_SCC = 55
 Simulation Cell Control (EasyEdit) More...
 
const int AUX_UPDATE_IDX_LOAD_ROBOT_ASM = 56
 Robot Assembly is loaded. More...
 
const int AUX_UPDATE_IDX_SAVE_ROBOT_ASM = 57
 Robot Assembly was saved (.ras file) More...
 
const int AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED = 58
 At least one passive axis exceeds its maximum allowed travel ranges. More...
 
const int AUX_UPDATE_IDX_JOGGING = 59
 Jogging mode by sub_idx= 0x1-Joint, 0x2-TCP Base, 0x4-TCP Tool, 0x8-TCP World. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_NO_ACTION = 0x0
 Jogging mode by sub_idx= 0x0 No action. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_JOINT = 0x1
 Jogging mode by sub_idx= 0x1 Joint. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_TCP_BASE = 0x2
 Jogging mode by sub_idx= 0x2 TCP Base. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_TCP_TOOL = 0x4
 Jogging mode by sub_idx= 0x4 TCP Tool. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_TCP_WORLD = 0x8
 Jogging mode by sub_idx= 0x8 TCP World. More...
 
const int AUX_UPDATE_SUB_IDX_JOG_ALL = AUX_UPDATE_SUB_IDX_JOG_JOINT | AUX_UPDATE_SUB_IDX_JOG_TCP_BASE | AUX_UPDATE_SUB_IDX_JOG_TCP_TOOL | AUX_UPDATE_SUB_IDX_JOG_TCP_WORLD
 Jogging mode by sub_idx= all. More...
 
const int DLL_STATUS_INVALID = 0
 UserDll Dialog status is not valid. More...
 
const int DLL_STATUS_OPEN = 1
 UserDll Dialog status is open. More...
 
const int DLL_STATUS_CLOSE = 2
 UserDll Dialog status is closed. More...
 
const int DLL_STATUS_STRT_AUTO = 3
 UserDll Dialog status starts automatically, see config.dat. More...
 
const int APIDLL_CNTRL_UNDEF = 0x0
 Calling status for API-DLL is undefined. More...
 
const int APIDLL_CNTRL_INITIALIZE = 0x1
 Calling status for API-DLL, Initialization allowing to allocate dynamically memory or establish a TCP/IP communication. More...
 
const int APIDLL_CNTRL_TERMINATE = 0x2
 Calling status for API-DLL, Terminate, allowing to delete allocated memory or to terminate a TCP/IP communication. More...
 
const int APIDLL_CNTRL_SIM_START = 0x4
 Calling status for API-DLL, Start indicates that the simulation starts. More...
 
const int APIDLL_CNTRL_SIM_STEP = 0x8
 Calling status for API-DLL, Cycle indicates one simulation step or simulation cycle within a simulation. More...
 
const int APIDLL_CNTRL_SIM_STOP = 0x10
 Calling status for API-DLL, Stop indicates that the simulation is aborted. More...
 

Typedef Documentation

Circular Orientation settings at via point

Circular Orientation settings

typedef struct _COLL_DEVICE COLL_DEVICE
typedef struct _COLL_PAIR COLL_PAIR
typedef struct _COLL_PROBE COLL_PROBE
typedef struct tframe frame
typedef struct tframe FRAME
typedef enum _IPO_MODE IPO_MODE

Motion Types

Linear Orientation settings

typedef struct _ROB_DH ROB_DH

Status Output settings

Enumeration Type Documentation

Circular Orientation settings at via point

Enumerator
CIRC_ORI_START_END 

Circular Orientation consider start- and end-location.

CIRC_ORI_START_VIA_END 

Circular Orientation consider start-, via- and end-location.

CIRC_ORI_START_VIAORI_END 

Circular Orientation consider start-, via-, via-Oir- and end-location.

CIRC_ORI_TANGENTIAL 

Circular Orientation consider start-location to keep orientation tangential.

CIRC_ORI_FIX 

Circular Orientation keep constant.

Circular Orientation settings

Enumerator
CIRC_VARIABLE 

Circular Orientation Ipo mode Variable.

CIRC_FIX 

Circular Orientation Ipo mode Fix.

CIRC_TANGENTIAL 

Circular Orientation Ipo mode Tangential.

CIRC_AUX 

Circular Orientation Ipo mode Auxiliary.

CIRC_VARIABLE2 

Circular Orientation Ipo mode Variable2.

CIRC_QUATERNION 

Circular Orientation Ipo mode Quaternion.

enum _IPO_MODE

Motion Types

Enumerator
JOINT 

Motion type Synchro PTP.

CP 

Motion type LIN.

CIRC 

Motion type CIRC.

WAIT 

Motion type WAIT.

SLEW 

Motion type SLEW.

IPO_AUX_1 

Motion type User defined 1.

IPO_AUX_2 

Motion type User defined 2.

IPO_AUX_3 

Motion type User defined 3.

IPO_AUX_4 

Motion type User defined 4.

IPO_UNDEF 

Motion type not defined.

Linear Orientation settings

Enumerator
LIN_VARIABLE 

Linear Orientation Ipo mode Variable.

LIN_FIX 

Linear Orientation Ipo mode Fix.

LIN_TANGENTIAL 

Linear Orientation Ipo mode Tangential.

LIN_AUX 

Linear Orientation Ipo mode Auxiliary.

LIN_QUATERNION 

Linear Orientation Ipo mode Quaternion.

Status Output settings

Enumerator
SIM_STEP 

output at each simulation step

TARGET_POSE 

output at target location

IPO_STEP 

output at each interpolation step

Variable Documentation

const int _3D_CAD_Window_DLG = 7

open/close non modal 3d_cad window dialog

const int _3D_PDF_Export_DLG = 18

open/close non modal 3D Pdf Export dialog

const int _3DPDF_EXPORT_800000 = 0x800000

3D_Pdf_Export tbd

const int _3DPDF_EXPORT_ACTIVATE = 0x2

3D_Pdf_Export activate API Control for 3D Pdf Export

const int _3DPDF_EXPORT_ADD_IMAGE = 0x20000000

3D_Pdf_Export Add Image: file, left(x) upper(y) width height, Scaling is one of ISO_Stretch = 0 or ISO_CenterFit = 1

const int _3DPDF_EXPORT_CONTROL_AREA = 0x4000000

3D_Pdf_Export Set Control Area: left(x) upper(y) width height

const int _3DPDF_EXPORT_CREATOR_INFO = 0x40000000

3D_Pdf_Export Set Creator Info

const int _3DPDF_EXPORT_DEACTIVATE = 0x4

3D_Pdf_Export deactivate API Control for 3D Pdf Export

const int _3DPDF_EXPORT_ERROR = 1

Error in 3D Pdf Export method.

const int _3DPDF_EXPORT_EXPORT = 0x80

3D_Pdf_Export EXPORT to 3D_Pdf without animation

const int _3DPDF_EXPORT_GET_KEYFRAMES = 0x20000

3D_Pdf_Export get current number of recorded keyframes

const int _3DPDF_EXPORT_GET_LIC_OPTIONS = 0x400

3D_Pdf_Export 3D_Pdf license options

const int _3DPDF_EXPORT_GET_MODE = 0x1

3D_Pdf_Export current status, _3DPDF_EXPORT_MODE_FREE, _3DPDF_EXPORT_MODE_ERROR, _3DPDF_EXPORT_MODE_DLG or _3DPDF_EXPORT_MODE_API

const int _3DPDF_EXPORT_IMAGE_PATH = 0x10000000

3D_Pdf_Export Set Path for all Images

const int _3DPDF_EXPORT_INIT = 0x8

3D_Pdf_Export Initialization

const int _3DPDF_EXPORT_LABEL_FONT_SIZE = 0x8000000

3D_Pdf_Export Set Label Font Size: Default = 10, valid values are between 1 and 50

const int _3DPDF_EXPORT_LOAD_LAYOUT_FILE = 0x200000

3D_Pdf_Export load 3D_Pdf Layout from *.3pl file

const int _3DPDF_EXPORT_MODE_API = 2

3D_Pdf_Export used by API

const int _3DPDF_EXPORT_MODE_DLG = 1

3D_Pdf_Export used by User Dialog

const int _3DPDF_EXPORT_MODE_ERROR = -1

3D_Pdf_Export is on Error

const int _3DPDF_EXPORT_MODE_FREE = 0

3D_Pdf_Export is not used

const int _3DPDF_EXPORT_OK = 0

3D_Pdf_Export method successful

const int _3DPDF_EXPORT_PAGE_AREA = 0x1000000

3D_Pdf_Export Set Page Area: width height

const int _3DPDF_EXPORT_PAUSE = 0x20

3D_Pdf_Export Pause recording

const int _3DPDF_EXPORT_RESET_LAYOUT = 0x100000

3D_Pdf_Export reset current 3D_Pdf Layout settings, set to default data

const int _3DPDF_EXPORT_RESTART = 0x200

3D_Pdf_Export ReStart recording, throw away old recordings

const int _3DPDF_EXPORT_SAVE = 0x40

3D_Pdf_Export Stop recording and Save to 3D_Pdf

const int _3DPDF_EXPORT_SAVE_LAYOUT_FILE = 0x400000

3D_Pdf_Export load 3D_Pdf Layout to *.3pl file

const int _3DPDF_EXPORT_SAVE_STATUS_KEYFRAMES_MAX = 7

3D_Pdf_Export number of max. recorded keyframes reached

const int _3DPDF_EXPORT_SAVE_STATUS_LAST = 7

3D_Pdf_Export last token ID

const int _3DPDF_EXPORT_SAVE_STATUS_RECORD = 1

3D_Pdf_Export recording started

const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ABORT = 5

3D_Pdf_Export saving 3D_Pdf aborted

const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN = 2

3D_Pdf_Export begin to save 3D_Pdf

const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN_THREAD = 3

3D_Pdf_Export begin to save 3D_Pdf in a thread

const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_DONE = 4

3D_Pdf_Export saving 3D_Pdf done with success

const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ERROR = 6

3D_Pdf_Export error during save 3D_Pdf

const int _3DPDF_EXPORT_SAVE_STATUS_UNDEF = 0

3D_Pdf_Export status undefined

const int _3DPDF_EXPORT_SET_FILE = 0x1000

3D_Pdf_Export set 3D_Pdf file name

const int _3DPDF_EXPORT_SET_KEYFRAMES_MAX = 0x10000

3D_Pdf_Export set max. number of key frames

const int _3DPDF_EXPORT_SET_LABEL = 0x4000

3D_Pdf_Export set 3D_Pdf label

const int _3DPDF_EXPORT_SET_PASSWORD = 0x2000

3D_Pdf_Export set 3D_Pdf password

const int _3DPDF_EXPORT_SHOW = 0x100

3D_Pdf_Export Open 3D_Pdf file in Reader

const int _3DPDF_EXPORT_START = 0x10

3D_Pdf_Export Start recording

const int _3DPDF_EXPORT_STOP = 0x40

3D_Pdf_Export Stop recording and Save to 3D_Pdf

const int _3DPDF_EXPORT_UNDEF = 0x0

3D_Pdf_Export undefined

const int _3DPDF_EXPORT_VALUE = -1

Error in 3D Pdf Export method.

const int _3DPDF_EXPORT_VIEWPORT_AREA = 0x2000000

3D_Pdf_Export Set ViewPort Area: left(x) upper(y) width height

const int _3DS_CAD_TYPE = 12

X, Y, Z scale;.

const int ABORT_MODUS = 0

Program not runnning, aborted.

const int Api_User_Dll_DLG = 12

open modal dialog to select API UserDLL to start

const int APIDLL_CNTRL_INITIALIZE = 0x1

Calling status for API-DLL, Initialization allowing to allocate dynamically memory or establish a TCP/IP communication.

const int APIDLL_CNTRL_SIM_START = 0x4

Calling status for API-DLL, Start indicates that the simulation starts.

const int APIDLL_CNTRL_SIM_STEP = 0x8

Calling status for API-DLL, Cycle indicates one simulation step or simulation cycle within a simulation.

const int APIDLL_CNTRL_SIM_STOP = 0x10

Calling status for API-DLL, Stop indicates that the simulation is aborted.

const int APIDLL_CNTRL_TERMINATE = 0x2

Calling status for API-DLL, Terminate, allowing to delete allocated memory or to terminate a TCP/IP communication.

const int APIDLL_CNTRL_UNDEF = 0x0

Calling status for API-DLL is undefined.

const int AUTOPATH_ALGORITHM_RRT_CONNECT = 2

Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees)

const int AUTOPATH_ALGORITHM_RTD_BBS = 3

Path Planner Algorithm: 3-RTD BBS.

const int AUTOPATH_ALGORITHM_USER_FCT = 1

Path Planner Algorithm: 1-User Fct.

const int AUTOPATH_CHK_CONSTRAINT_CART_SPACE = 0x10

action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_COLLISION = 0x4

action parameter is Collision for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_1 = 0x100

action parameter chk constraint for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_2 = 0x200

action parameter chk constraint for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_START_DEST = 0x1

action parameter is StartPose or DestPose for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_SWE = 0x8

action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_TBD_20 = 0x20

action parameter is tbd

const int AUTOPATH_CHK_CONSTRAINT_TBD_40 = 0x40

action parameter is tbd

const int AUTOPATH_CHK_CONSTRAINT_TBD_400 = 0x400

action parameter is tbd

const int AUTOPATH_CHK_CONSTRAINT_TBD_80 = 0x80

action parameter is tbd

const int AUTOPATH_CHK_CONSTRAINT_TBD_800 = 0x800

action parameter is tbd

const int AUTOPATH_CHK_CONSTRAINT_UNDEF = 0x0

action parameter is undefined for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES = 0x2

action parameter is Collision for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_CONSTRAINT_MAX = 0x2

Set ConstraintMax.

const int AUTOPATH_CONSTRAINT_MIN = 0x1

Set ConstraintMin.

const int AUTOPATH_CONSTRAINT_RESET = 0x0

Reset Constraints to min. and max. travel ranges.

const int AUTOPATH_DLG_PARAMETER_API_CONTROL = 1

AutoPath controlled via API: 1-on, 0-off.

const int AUTOPATH_DLG_PARAMETER_DISABLE_MSG = 3

Disable Dlg Message: 1-on, 0-off.

const int AUTOPATH_DLG_PARAMETER_SHOW_WINDOW = 2

Dialog Show Settings: SW_HIDE, SW_SHOWNORMAL, ...

const int AUTOPATH_ERROR = 1

Error in AutoPath method.

const int AUTOPATH_ERROR_VALUE = -1

Error in AutoPath method.

const int AUTOPATH_MOP_DLG = 17

open/close non modal auto path motion planner dialog

const int AUTOPATH_OK = 0

AutoPath method successful.

const int AUTOPATH_PARAMETER_ALGORITHM = 2

Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS.

const int AUTOPATH_PARAMETER_DYNADJUST = 1

Dynamic adjust Accuracy: 1-on, 0-off.

const int AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR = 5

Force deterministic behavior: 1-on, 0-off.

const int AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE = 6

Limit revolute joints in C-Space: 1-on, 0-off.

const int AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS = 4

Minimize number of WayPoints: 1-on, 0-off.

const int AUTOPATH_PARAMETER_NTREES = 3

Number of Trees [2..32].

const int AUTOPATH_PARAMETER_OUTPUT_SETTINGS = 8

Output Settings: 0-Prepend motion.., 1-Append motion.., 2-Insert motion.., 3-Overwrite prev. motion.

const int AUTOPATH_PARAMETER_THREAD_PRIORITY = 7

Thread priority: 0-normal, 1-low, 2-high.

const int AUTOPATH_RESULT_CDENSITY = 6

Density in [%] = Number of CObstacle / (Number of CFree + Number of CObstacle) during AutoPath calculation.

const int AUTOPATH_RESULT_CFREE = 4

Number of CFree Checks during AutoPath calculation.

const int AUTOPATH_RESULT_CHECKS = 1

Number of Checks during AutoPath calculation.

const int AUTOPATH_RESULT_COBSTACLE = 5

Number of CObstacle Checks during AutoPath calculation.

const int AUTOPATH_RESULT_CPS = 3

Number of Check per seconds for AutoPath calculation.

const int AUTOPATH_RESULT_DSECONDS = 7

Elapsed time in deciseconds (1/10) for AutoPath calculation.

const int AUTOPATH_RESULT_SECONDS = 2

Elapsed time in seconds for AutoPath calculation.

const int AUTOPATH_STATUS_MP_ABORT = 0x2000

AutoPath calculation aborted.

const int AUTOPATH_STATUS_MP_FAILURE = 0x8000

AutoPath calculation failed.

const int AUTOPATH_STATUS_MP_IDLE = 0x10000

AutoPath is idle.

const int AUTOPATH_STATUS_MP_RUNNING = 0x20000

AutoPath in process.

const int AUTOPATH_STATUS_MP_START = 0x1000

AutoPath calculation started.

const int AUTOPATH_STATUS_MP_SUCCESS = 0x4000

AutoPath calculation successful.

const int AUX_UPDATE_IDX_ACCEL_EXCEEDED = 11

At least one axis exceeds its maximum allowed axis acceleration.

const int AUX_UPDATE_IDX_AUTOPATH = 50

AutoPath Feedback.

const int AUX_UPDATE_IDX_CART_SPACE_EXCEEDED = 53

Robot exceeds the cartesian space with its Tcp location or its bBox geometries.

const int AUX_UPDATE_IDX_CNTRL_UPDATE = 19

Controller loop, depending on contoller sampling rate.

const int AUX_UPDATE_IDX_COLLISION = 13

Workcell collision.

const int AUX_UPDATE_IDX_EXIT = 0

Application on exit.

const int AUX_UPDATE_IDX_IPO_ERROR = 40

trajectory planner, detects error

const int AUX_UPDATE_IDX_IPO_UPDATE = 18

Interpolation loop, depending on trajectory planner execution sampling rate.

const int AUX_UPDATE_IDX_JOGGING = 59

Jogging mode by sub_idx= 0x1-Joint, 0x2-TCP Base, 0x4-TCP Tool, 0x8-TCP World.

const int AUX_UPDATE_IDX_LICENSE_ERROR = -1

License Error.

const int AUX_UPDATE_IDX_LOAD_BODY = 7

Bodies or Geometries are loaded.

const int AUX_UPDATE_IDX_LOAD_CELL = 2

Cell is loaded.

const int AUX_UPDATE_IDX_LOAD_GEO_ERROR = 54

Geometry file (IGP, STL or 3DS) not found during load.

const int AUX_UPDATE_IDX_LOAD_MIMIC = 6

Mimic file for cRobot is loaded.

const int AUX_UPDATE_IDX_LOAD_PATHES = 27

A Path is loaded.

const int AUX_UPDATE_IDX_LOAD_PROGRAM = 5

Program file for cRobot is loaded.

const int AUX_UPDATE_IDX_LOAD_ROBOT = 3

Robot is loaded.

const int AUX_UPDATE_IDX_LOAD_ROBOT_ASM = 56

Robot Assembly is loaded.

const int AUX_UPDATE_IDX_LOAD_TOOL = 4

Tool for cRobot is loaded.

const int AUX_UPDATE_IDX_NEED_MORE_DATA = 38

trajectory planner, need more data

const int AUX_UPDATE_IDX_OPENGL = 31

Allows the API programmer to run some OpenGL commands before EASY-ROB draw its 3D scene.

const int AUX_UPDATE_IDX_OPENGL_POST = 10031

Allows the API programmer to run some OpenGL commands after EASY-ROB draw its 3D scene.

const int AUX_UPDATE_IDX_PRG_ABORT = 17

Program run is aborted, obsolete use AUX_UPDATE_IDX_PRG_ABORT_POST instead.

const int AUX_UPDATE_IDX_PRG_ABORT_POST = 10017

Program run is completely aborted, all threads stopped ....

const int AUX_UPDATE_IDX_PRG_CONT = 16

Program run is continued.

const int AUX_UPDATE_IDX_PRG_RUN = 14

Program or single program step is startet.

const int AUX_UPDATE_IDX_PRG_STOP = 15

Program run is stopped.

const int AUX_UPDATE_IDX_S3DM_EVENT = 51

3D Space Mouse Event

const int AUX_UPDATE_IDX_SAVE_BODY = 46

Bodies are saved (.bod file)

const int AUX_UPDATE_IDX_SAVE_CELL = 41

Cell was saved (.cel file)

const int AUX_UPDATE_IDX_SAVE_CPATH = 47

cPath was saved in one tag file (*.tag file)

const int AUX_UPDATE_IDX_SAVE_MIMIC = 45

Mimic for cRobot was saved (.mmc), used for machine interface command, i.e. G-Code -> ERPL, ERCL.

const int AUX_UPDATE_IDX_SAVE_PATHES = 48

All Pathes are saved in one tag file (*.tag file)

const int AUX_UPDATE_IDX_SAVE_PROGRAM = 44

Program for cRobot was saved (.prg)

const int AUX_UPDATE_IDX_SAVE_ROBOT = 42

cRobot was saved (.rob file)

const int AUX_UPDATE_IDX_SAVE_ROBOT_ASM = 57

Robot Assembly was saved (.ras file)

const int AUX_UPDATE_IDX_SAVE_TOOL = 43

Tool was saved (.tol file)

const int AUX_UPDATE_IDX_SCC = 55

Simulation Cell Control (EasyEdit)

const int AUX_UPDATE_IDX_SELECTION_HIT = 33

If picking mode is activ, the user hit something.

const int AUX_UPDATE_IDX_SELECTION_NOHIT = 32

If picking mode is activ, the user hit nothing.

const int AUX_UPDATE_IDX_SET_FOCUS = 49

The EASY-ROB window gets the focus.

const int AUX_UPDATE_IDX_SET_NEXT_TARGET = 36

prepare next motion

const int AUX_UPDATE_IDX_SIMUPDATE = 1

Grafical update, i.e. if the user navigate the 3D scene.

const int AUX_UPDATE_IDX_SPEED_EXCEEDED = 10

At least one axis exceeds its maximum allowed axis speed.

const int AUX_UPDATE_IDX_SWE_EXCEEDED = 9

At least one axis exceeds its maximum allowed travel ranges.

const int AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED = 58

At least one passive axis exceeds its maximum allowed travel ranges.

const int AUX_UPDATE_IDX_SYS_UPDATE = 20

Modell loop, depending on modell sampling rate.

const int AUX_UPDATE_IDX_TAGUPDATE = 8

Tag location is modified or updated.

const int AUX_UPDATE_IDX_TARGET_REACHED = 39

trajectory planner, target reached

const int AUX_UPDATE_IDX_UDLL_DLG_IDX = 52

Sets the UserDll dialog index [1..], called immediatly after OpenDialog is called.

const int AUX_UPDATE_IDX_UNLOAD_BODY = 26

Bodies or Geometries are unloaded.

const int AUX_UPDATE_IDX_UNLOAD_CELL = 21

Cell is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_MIMIC = 25

Mimic file for cRobot is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_PATH = 29

A Path is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_PATHES = 30

All Pathes are unloaded.

const int AUX_UPDATE_IDX_UNLOAD_PROGRAM = 24

Program file for cRobot is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_ROBOT = 22

Robot is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_TAG = 28

A Tag is unloaded.

const int AUX_UPDATE_IDX_UNLOAD_TOOL = 23

Tool for cRobot is unloaded.

const int AUX_UPDATE_IDX_UNREACH = 12

Target location is not reachable.

Jogging mode by sub_idx= all.

const int AUX_UPDATE_SUB_IDX_JOG_JOINT = 0x1

Jogging mode by sub_idx= 0x1 Joint.

const int AUX_UPDATE_SUB_IDX_JOG_NO_ACTION = 0x0

Jogging mode by sub_idx= 0x0 No action.

const int AUX_UPDATE_SUB_IDX_JOG_TCP_BASE = 0x2

Jogging mode by sub_idx= 0x2 TCP Base.

const int AUX_UPDATE_SUB_IDX_JOG_TCP_TOOL = 0x4

Jogging mode by sub_idx= 0x4 TCP Tool.

const int AUX_UPDATE_SUB_IDX_JOG_TCP_WORLD = 0x8

Jogging mode by sub_idx= 0x8 TCP World.

const int AVI_Recorder_DLG = 14

open non modal avi recorder dialog (ER_PlugIn)

const int BODY_GRP = 2

Body group type.

const int CAD_IMPORT_DLG = 16

open/close non modal cad import dialog

const int CHK_NOM_VALUES_ACCEL = 0x4

Bit 3 Joint accelerations are exceeded.

const int CHK_NOM_VALUES_ALL = 0xffff

Bit 1-16.

const int CHK_NOM_VALUES_CART_SPACE = 0x10

Bit 5 Cartesian space exceeded.

const int CHK_NOM_VALUES_COLLISION = 0x8

Bit 4 Workcell collision occured.

const int CHK_NOM_VALUES_SPEED = 0x2

Bit 2 Joint speeds are exceeded.

const int CHK_NOM_VALUES_SWE = 0x1

Bit 1 Travel range (joint limits) are exceeded.

const int COLL_PAIRS_MAX = 96

max. number of stored collision pairs

const int COLOR_USE_FIX = 0x2

Note: FIX color are only temporarly.

const int COLOR_USE_FIX_IDX = 0x4

Changes all objects with FIX color and with 'color_idx2change' to rgba_color.

const int COLOR_USE_USER = 0x1

USER color are saved with cel or rob file.

const int CONE_CAD_TYPE = 5

Radius, Height 1, y Scale, dx, dy, Angle.

const int CONVERT_CAD_DEFAULT = 0x0

CONVERT_CAD_MSG_WARNING, CONVERT_CAD_HEAL, CONVERT_CAD_SEW.

const int CONVERT_CAD_HEAL = 0x100

Healing.

const int CONVERT_CAD_MSG_SILENT = 0x4

Suppress messages during CAD import or conversion.

const int CONVERT_CAD_MSG_VERBOSE = 0x1

Shows all messages during CAD import or conversion.

const int CONVERT_CAD_MSG_WARNING = 0x2

Shows warning messages during CAD import or conversion.

const int CONVERT_CAD_SEW = 0x200

Sewing.

const int CONVERT_CAD_TESSELATION_COARSE = 0x20

Reduce Tesselation, coarse.

const int CONVERT_CAD_TESSELATION_FINE = 0x40

Increase Tesselation, more fine.

const int CONVERT_CAD_TESSELATION_RESET = 0x10

Reset to origin Tesselation.

const int CONVERT_CAD_USR_COLOR = 0x400

User Color, allows to change the geometry color in EASY-ROB afterwards.

const int CUBE_CAD_TYPE = 1

X, Y, Height.

const int CYLINDER_CAD_TYPE = 4

Radius, Height 1, y Scale, Radius top, Height 2, y Scale top, dx, dy, Angle.

const double DEG = 57.295779513082320877

conversion from radiant to degree 180/PI

const int DIM = 3

3 Dimensions

const int DLG_Mode_Close = 0

close non modal dialog

const int DLG_Mode_Open = 1

open non modal dialog

const int DLG_Mode_Status = 2

status of non modal dialog

const int DLL_STATUS_CLOSE = 2

UserDll Dialog status is closed.

const int DLL_STATUS_INVALID = 0

UserDll Dialog status is not valid.

const int DLL_STATUS_OPEN = 1

UserDll Dialog status is open.

const int DLL_STATUS_STRT_AUTO = 3

UserDll Dialog status starts automatically, see config.dat.

const long DMAXSTR = 256

Maximum length of a medium message.

const int DOF12 = 12

12 Degrees-of-Freedom

const int DOF6 = 6

6 Degrees-of-Freedom

const int DOF9 = 9

9 Degrees-of-Freedom

const int DOF_QUAT = 7

Quaternion vector length.

const long DS_MAXSTR = 2048

Maximum length of a double huge message.

const int ER_ALTERNATE = -1

standard color alternating

const int ER_BLACK = 0

standard color black

const int ER_BLUE = 1

standard color blue

const int ER_CAD_MEM_GRAHICS = 2

geometry memory model GRAHICS Vertices are optimized, builds OpenGL arrays

const int ER_CAD_MEM_NATIVE_CPU = 3

geometry memory model NATIVE_CPU keep geometry as read from file, no optimization

const int ER_CAD_MEM_VBO = 1

geometry memory model VBO loads optimized geometry into grafics board, default

const int ER_CAD_RENEW_COLLISION = 0x2

geometry renewing, reconstruct collision model

const int ER_CAD_RENEW_DEFAULT = ER_CAD_RENEW_GEOMETRY | ER_CAD_RENEW_COLLISION

geometry renewing, default setting

const int ER_CAD_RENEW_DEL_COLLISION = 0x4

geometry renewing, delete collision model

const int ER_CAD_RENEW_GEOMETRY = 0x1

geometry renewing, refresh geometry depending on geometry memory model VBO, GRAHICS or NATIVE_CPU

const int ER_CAD_RENEW_UNDEF = 0x0

geometry renewing, no action

const int ER_CALCULATION_FAILED = -2

Return value calculation failed or result tested as invalid.

const int ER_CANCEL = -1

Return value CANCEL, dialog cancelled.

const int ER_CYAN = 3

standard color cyan

const int ER_ERROR = 1

Return value ERROR for no success.

const int ER_GRAY = 8

standard color grey

const int ER_GREEN = 2

standard color green

const int ER_INVISIBLE = -2

standard color invisible

const int ER_LBLUE = 9

standard color light blue

const int ER_LCYAN = 11

standard color light cyan

const int ER_LGRAY = 7

standard color light grey

const int ER_LGREEN = 10

standard color light green

const int ER_LIC_API_DYN = 9

License API Dynamics.

const int ER_LIC_API_FWD = 16

License API forward kinematics.

const int ER_LIC_API_INT = 14

License API Interpreter.

const int ER_LIC_API_INV = 7

License API Inverse kinematics.

const int ER_LIC_API_IPO = 8

License API Interpolation.

const int ER_LIC_API_PP = 15

License API Post Processor.

const int ER_LIC_API_UDLL = 102

License API User DLL.

const int ER_LIC_OPT_AUTOPATH = 27

License AutoPath, collision free path detection.

const int ER_LIC_OPT_MATLAB = 103

License Matlab.

const int ER_LIC_OPT_MATLAB_REMOTE = 104

License Matlab Remote Control.

const int ER_LIC_OPT_MULTI_KIN = 26

License Multi Kinematics.

const int ER_LIC_OPT_MULTI_PROG = 28

License Multi Program.

const int ER_LIC_OPT_NC = 12

License NC Simulation.

const int ER_LIC_OPT_NC2RC = 13

License NC to Robot Program conversion.

const int ER_LIC_OPT_OLP = 10

License Offline Programming, tbd.

const int ER_LIC_OPT_REMOTE = 101

License Remote Control.

const int ER_LIC_OPT_RRS = 11

License RRS, tbd.

const int ER_LIC_OPT_RUNTIME = 19

License Runtime.

const int ER_LIC_ROB_ABB = 21

License RobotLib ABB.

const int ER_LIC_ROB_COMAU = 32

License RobotLib Adept, Comau, Guedel, Eisenmann.

const int ER_LIC_ROB_FANUC = 23

License RobotLib Fanuc.

const int ER_LIC_ROB_KAWASAKI = 31

License RobotLib Denso, Mitsubishi, Kawasaki.

const int ER_LIC_ROB_KUKA = 17

License RobotLib KUKA, Reis.

const int ER_LIC_ROB_MOTOMAN = 22

License RobotLib Motoman, Yaskawa.

const int ER_LIC_ROB_PKM_DELTA = 25

License RobotLib Parallel Kinematics Machines PKM Delta.

const int ER_LIC_ROB_STAUBLI = 18

License RobotLib Staubli, Bosch, Manz.

const int ER_LIC_ROB_TRICEPT = 20

License RobotLib Tricept.

const int ER_LIC_STD_BASIC = 1

License BASIC.

const int ER_LIC_STD_COLL = 3

License COLLISION.

const int ER_LIC_STD_ERC = 2

License ERC.

const int ER_LIC_STD_LIB = 4

License Device Manager.

const int ER_LIC_STD_NUMSOL = 6

License Numerical solution for inverse kinematics.

const int ER_LIC_STD_ROBMOD = 5

License Robot Modelling.

const int ER_LRED = 12

standard color light red

const int ER_MAGENTA = 5

standard color magenta

const int ER_OK = 0

Return value OK for success.

const int ER_ORANGE = 6

standard color orange (ER_BROWN)

const int ER_PlugIn_dll_DLG = 13

open modal dialog to select ER_PlugIn to start

const int ER_RED = 4

standard color red

const int ER_VIOLETT = 13

standard color violett

const int ER_WHITE = 15

standard color white

const int ER_YELLOW = 14

standard color yellow

const int ERC_3D_PDF_EXPORT_ERCL = 54

Enable/disable 3D Pdf Export trough ERCL.

const int ERC_BACKFACES = 31

Enable/disable Backface culling.

const int ERC_BASE_COORSYS = 20

Enable/disable Show device base coorsys.

const int ERC_CAMERA = 32

Enable/disable Camera View.

const int ERC_COI_RENDER = 46

Enable/disable Show Center Of Interest.

const int ERC_COLLISION = 6

Enable/disable Collision.

const int ERC_COLLISION_CROBOT = 41

Enable/disable Collision for current Robot.

const int ERC_COLLISION_CROBOT_ITSELF = 58

Enable/disable Itself collision for current Robot.

const int ERC_COLLISION_CROBOT_REF = 43

Enable/disable Reference collision for current Robot.

const int ERC_COLLISION_CTOOL = 42

Enable/disable Collision for current Tool.

const int ERC_CREATE_TARGET_TAGS = 26

Enable/disable Creating Tags at target location.

const int ERC_DISPLAY_ALL_COORSYS = 38

Enable/disable Display all available coorsys.

const int ERC_DISPLAY_BODIES = 16

Enable/disable Display bodies, i.e. environment geometries.

const int ERC_DISPLAY_BODYS_COORSYS = 37

Enable/disable Display bodies coorsys.

const int ERC_DISPLAY_CROBOT = 39

Enable/disable Display current Robot/Device.

const int ERC_DISPLAY_CTAG = 56

Enable/disable Display current selected Tag.

const int ERC_DISPLAY_CTOOL = 40

Enable/disable Display current Tool.

const int ERC_DISPLAY_ROBOT_COORSYS = 14

Enable/disable Display robots coorsys.

const int ERC_DISPLAY_ROBOTS = 13

Enable/disable Display robots.

const int ERC_DISPLAY_TAGS = 17

Enable/disable Display Tags.

const int ERC_DISPLAY_TOOLS = 15

Enable/disable Display tools.

const int ERC_DYNAMICS = 2

Enable/disable Dynamics.

const int ERC_ENABLE_CROBOT = 44

Enable/disable current robot, e.g. to deactivate cRobot.

const int ERC_EXT_TCP = 22

Enable/disable Show external Tcp coorsys.

const int ERC_FLOOR = 9

Enable/disable Floor.

const int ERC_FLOOR_RENDER = 10

Enable/disable Floor render wire or flat.

const int ERC_GRAFIC_UPDATE = 25

Enable/disable Grafics update.

const int ERC_INTERPOLATION = 28

Enable/disable Interpolation, if disabled the robot will jump to the target.

const int ERC_IPO_COORSYS = 19

Enable/disable Show ipo coorsys.

const int ERC_IPO_STEP_LOOP = 34

Enable/disable If enabled, grafics update performed at every interpolation step.

const int ERC_LEADING_POSITION = 29

Enable/disable Leading position (Interpolation)

const int ERC_MOUSE_GRF_UPDATE = 47

Enable/disable Grafics update as a result of mouse movement.

const int ERC_NO_DECEL = 24

Enable/disable no decelaration, to achieve move through.

const int ERC_ONOFF_DISABLE = 0

disable flag, see ER_CAPI_SIM_ERPL::erc_onoff

const int ERC_ONOFF_ENABLE = 1
const int ERC_ONOFF_STATUS = 2

request current flag status, result ERC_ONOFF_DISABLE, ERC_ONOFF_ENABLE

const int ERC_ORTHOGRAFIC = 12

Enable/disable Orthografic.

const int ERC_REALTIME_SIM = 30

Enable/disable Realtime simulation, results in permanent modification of sim step size.

const int ERC_RENDER_BBOX = 11

Enable/disable Render all geometries in bBox.

const int ERC_RESET_ALL_POSITIONS_JOINTS = 23

Enable/disable Reset to start condition when program starts.

const int ERC_ROBOT_COORSYS = 21

Enable/disable Show robots coorsys.

const int ERC_RUN_REPEAT = 57

Enable/disable automatically program repeat.

const int ERC_SHOW_CART_SPACE = 49

Enable/disable cartesian space for cRobot.

const int ERC_STATUS_OUTPUT = 27

Enable/disable status out, e.g. joint data at each simulation step.

const int ERC_STOP_ACCEL = 5

Enable/disable stop if joint accels exceeded.

const int ERC_STOP_CART_SPACE = 48

Enable/disable stop if cartesian space exceeded.

const int ERC_STOP_COLLISION = 7

Enable/disable stop if collision occured.

const int ERC_STOP_SPEED = 4

Enable/disable stop if joint speeds exceeded.

const int ERC_STOP_SWE = 3

Enable/disable stop if joint limits exceeded.

const int ERC_STOP_UNREACH = 8

Enable/disable stop if unreachable target.

const int ERC_TAG_LINE_CONNECT = 36

Enable/disable Show Tag connection line, depending on motion type.

const int ERC_TAG_TEXT = 35

Enable/disable Show Tag Text.

const int ERC_TCP_COORSYS = 18

Enable/disable Show tcp coorsys.

const int ERC_TCP_JOG_COORSYS = 55

Enable/disable Show tcp jog coorsys for cRobot with inverse kinematics.

const int ERC_TRACK = 1

Enable/disable Tcp Trace for cRobot.

const int ERC_TRACK_ATTRIBUTES = 52

Enable/disable Tcp Trace Attributes for cRobots.

const int ERC_TRACKS = 50

Enable/disable Tcp Trace for all Robots.

const int ERC_TRACKS_ATTRIBUTES = 51

Enable/disable Tcp Trace Attributes for all Robots.

const int ERC_USE_TAG_ATTRIBUTES = 33

Enable/disable Use Tag attributes.

const int ERC_VIEW_CHOREOGRAPHY = 53

Enable/disable View choreography.

const int ERC_WORLD_COORSYS = 45

Enable/disable World coorsys.

const int ERGL_ALL_ATTRIBUTES = 0xFFFFFFF

useful for ERGL_MODE_SET

const int ERGL_LIGHT_1_AMBIENT = 0x1000

request for 'ergl_param' light 1 ambient value

const int ERGL_LIGHT_1_DIFFUSE = 0x10000

request for 'ergl_param' light 1 diffuse value

const int ERGL_LIGHT_1_EMISSION = 0x1000000

request for 'ergl_param' light 1 emission value

const int ERGL_LIGHT_1_ENABLE = 0x100

request for 'ergl_param' light enable 1

const int ERGL_LIGHT_1_POSITION = 0x10

request for 'ergl_param' light position 1

const int ERGL_LIGHT_1_SPECULAR = 0x100000

request for 'ergl_param' light 1 specular value

const int ERGL_LIGHT_2_AMBIENT = 0x2000

request for 'ergl_param' light 2 ambient value

const int ERGL_LIGHT_2_DIFFUSE = 0x20000

request for 'ergl_param' light 2 diffuse value

const int ERGL_LIGHT_2_EMISSION = 0x2000000

request for 'ergl_param' light 2 emission value

const int ERGL_LIGHT_2_ENABLE = 0x200

request for 'ergl_param' light enable 2

const int ERGL_LIGHT_2_POSITION = 0x20

request for 'ergl_param' light position 2

const int ERGL_LIGHT_2_SPECULAR = 0x200000

request for 'ergl_param' light 2 specular value

const int ERGL_LIGHT_3_AMBIENT = 0x4000

request for 'ergl_param' light 3 ambient value

const int ERGL_LIGHT_3_DIFFUSE = 0x40000

request for 'ergl_param' light 3 diffuse value

const int ERGL_LIGHT_3_EMISSION = 0x4000000

request for 'ergl_param' light 3 emission value

const int ERGL_LIGHT_3_ENABLE = 0x400

request for 'ergl_param' light enable 3

const int ERGL_LIGHT_3_POSITION = 0x40

request for 'ergl_param' light position 3

const int ERGL_LIGHT_3_SPECULAR = 0x400000

request for 'ergl_param' light 3 specular value

const int ERGL_LIGHT_4_AMBIENT = 0x8000

request for 'ergl_param' light 4 ambient value

const int ERGL_LIGHT_4_DIFFUSE = 0x80000

request for 'ergl_param' light 4 diffuse value

const int ERGL_LIGHT_4_EMISSION = 0x8000000

request for 'ergl_param' light 4 emission value

const int ERGL_LIGHT_4_ENABLE = 0x800

request for 'ergl_param' light enable 4

const int ERGL_LIGHT_4_POSITION = 0x80

request for 'ergl_param' light position 4

const int ERGL_LIGHT_4_SPECULAR = 0x800000

request for 'ergl_param' light 4 specular value

request for 'ergl_param' light all enable

request for 'ergl_param' for all light positions

const int ERGL_MATERIAL_AMBIENT = 0x1

request for 'ergl_param' material ambient

const int ERGL_MATERIAL_DIFFUSE = 0x2

request for 'ergl_param' material diffuse

const int ERGL_MATERIAL_EMISSION = 0x8

request for 'ergl_param' material emission

const int ERGL_MATERIAL_SPECULAR = 0x4

request for 'ergl_param' material specular

const int ERGL_MODE_INQ = 0x1

return address of requested 'ergl_param' data

const int ERGL_MODE_RESET = 0x2

reset to initial value for requested 'ergl_param' data

const int ERGL_MODE_SET = 0x4

transfer all current data to opengl

const int ERGL_MODE_UNDEF = 0x0

no operation

const int ERGL_UNDEF = 0x0

no operation

const int EXTAX_AXIS_POS =1

pos axis

const int EXTAX_AXIS_SPEED =2

speed axis

const int EXTAX_AXIS_UNSET =0

not set -> IPO_PREP->extaxjnt[i]

const int EXTAX_MODE_OFF =0x0

0-no tag_motion or external axis motion

const int EXTAX_MODE_ON =0x1

1-extax motion enabled

const int EXTAX_MODE_STD =0x2

2-extax value in q_linext, q_linext[0] is number of external axis

const int EXTAX_MODE_TAG =0x1

1-extax value comes with a Tag

const int EXTAX_MODE_USR =0x4

4-extax specification in q_linext, v_linext, q_linext_idx

const float fDEG = (float)DEG

conversion from radiant to degree 180/PI

const float fPI = (float)PI

PI.

const float fRAD = (float)RAD

conversion from degree to radiants PI/180

const int FWD_REASON_CAD_EXPORT = 4

txt_tbd

const int FWD_REASON_COLLISION = 3

txt_tbd

const int FWD_REASON_KINEMATICS = 2

txt_tbd

const int FWD_REASON_ROB_GRAFIC_UPDATE = 1

txt_tbd

const int FWD_REASON_UNKNOWN = 0

txt_tbd

const long HS_MAXSTR = 1024

Maximum length of a huge message.

const int IGP_CAD_TYPE = 9

X, Y, Z scale.

const float inch2m = 0.0254f

converts [inch] to [m]

const int INPUT_LINE_SELECT_DEFAULT = 0x0
const int INPUT_LINE_SELECT_NO_NUMBER = 0x1

without enumeration number at the beginning, see ER_CAPI_USER_IO_DIALOG::dialog_select()

const int INPUT_LINE_SELECT_SORT = 0x2

sorts alphabetical, see ER_CAPI_USER_IO_DIALOG::dialog_select()

const int INPUT_LINE_SELECT_SORT_KEEP_FIRST = 0x4

do not sort first element, see ER_CAPI_USER_IO_DIALOG::dialog_select()

const int INPUT_LINE_SELECT_SORT_KEEP_LAST = 0x8

do not sort last element, see ER_CAPI_USER_IO_DIALOG::dialog_select()

const int IPO_ERROR = -1

Error during path preparation.

const int IPO_EXEC_CALL_AGAIN = 1

Path execution is called again.

const int IPO_EXEC_CALL_AGAIN_NO_UPDATE = 2

Path execution is called again, without grafic update in between.

const int IPO_EXEC_ERROR = -1

Error during path execution.

const int IPO_EXEC_OK = 0

Path execution successful.

const int IPO_EXEC_STOP = 3

EASY-ROB stops calling path execution.

const int IPO_IN_POSITION = 1

Robot already in target location.

const int IPO_LEADING_ORI = 0

leading orientation

const int IPO_LEADING_POS = 1

leading position

const int IPO_LEADING_VAR = 2

variable leading depending on required motion time for position and orientation

const float IPO_MIN_PREP_TIME = 0.001f

Smallest calculated path execution time, if less the robot is already in target location. IPO_IN_POSITION.

const int IPO_OK = 0

Path preparation successful.

const int Jog_Window_DLG = 4

open/close non modal jog window dialog

const int KIN_CONFIGS = 8

max. number of configurations

const int KIN_DOFS = 12

Maximum number of Degrees-of-Freedom for a kinematics.

const double KIN_EPSI = 0.5e-6

epsi

const int KIN_HOMEPOSITIONS = 12

max. number of available Home Positions

const int KIN_PASSIV_JNTS = 36

max. number of passive Joints

const int KIN_PRGS = 12

max. number of available Programs

const int KIN_TOOLS = 12

max. number of available Tools

const int KIN_USER_DATA = 12

Number of Sets of Kin User Data.

const int Kinematics_Window_DLG = 8

open/close non modal kineamtics window dialog

const long LS_MAXSTR = 512

Maximum length of a long message.

const float m2inch = (1/0.0254f)

converts [m] to [inch]

const float m2mm = 1000.0f

converts [m] to [mm]

const long MAXSTR = 128

Maximum length of a short message.

const long MAXSTR32 = 32

Maximum length of a 32char message.

const long MAXSTR64 = 64

Maximum length of a 64char message.

const int MERGE_ATTIB_CONFIRM_IF_FILE_EXIST = 0x1

User is prompted to confirm if the igp file name already exist.

const int MERGE_ATTIB_DEFAULT = MERGE_ATTIB_SKIP_LINES | MERGE_ATTIB_PPO_LIMIT_100
const int MERGE_ATTIB_NO_PPO_LIMIT = 0x100

The number of Polygons per object 'PpO' is NOT limited.

const int MERGE_ATTIB_PPO_LIMIT_100 = 0x200

The number of Polygons per object 'PpO' is limited by MERGE_MAX_NUMBER_OF_PPO_100.

const int MERGE_ATTIB_PPO_LIMIT_200 = 0x400

The number of Polygons per object 'PpO' is limited by MERGE_MAX_NUMBER_OF_PPO_200.

const int MERGE_ATTIB_SAVE_BINARY_IGP = 0x2

Save binary igp.

const int MERGE_ATTIB_SKIP_LINES = 0x10

Skip lines for all objects if exist.

const int MERGE_ATTIB_UNDEF = 0x0

No attributes sets, MERGE_ATTIB_PPO_LIMIT_100 is internally set per default.

const int MERGE_MAX_NUMBER_OF_PPO_100 = 100000

Object is limited by 100.000 polygons per object.

const int MERGE_MAX_NUMBER_OF_PPO_200 = 200000

Object is limited by 200.000 polygons per object.

const int Message_Window_DLG = 9

open/close non modal message window dialog

const float mm2m = 0.001f

converts [mm] to [m]

const int MM_BCKGNDCOLOR = 8

Mouse mode change background RGB color.

const int MM_BODY = 5

Mouse mode move current selected geometry.

const int MM_BODY_ALL = 6

Mouse mode move all geometries in cGroup.

const int MM_CRUISE = 0

Mouse mode Cruise World.

const int MM_FLOORCOLOR = 9

Mouse mode change floor RGB color.

const int MM_JNT_JOG = 3

Mouse mode Jog single robot joints.

const int MM_LIGHTPOS = 13

Mouse mode change light position.

const int MM_NEAR_FAR_PLANE = 14

Mouse mode change near and far plane.

const int MM_ROBBASE = 4

Mouse mode move robot base.

const int MM_TAG = 7

Mouse mode move cTag location.

const int MM_TAG_OFFSET = 10

Mouse mode move cWobj location.

const int MM_TCP_JOG_BASE = 15

Mouse mode Jog Tcp w.r.t. Robot Base.

const int MM_TCP_JOG_WORLD = 2

Mouse mode Jog Tcp w.r.t. World Coorsys.

const int MM_TCP_JOG_WZKS = 1

Mouse mode Jog Tcp w.r.t. Tool Coordinates.

const int MM_TOOL = 11

Mouse mode change current Tool data.

const float mmpmin2mps =(1/60000.0f)

converts [mm] per minute into [m] per seconds

const int MP_CIRCLE_CENTER = 5

Picking mode measure circle by three points, Get_cPickMode()

const int MP_DISTANCE = 3

Picking mode measure distance, Get_cPickMode()

const int MP_DISTANCE_DEVICE = 4

Picking mode measure distance devices, Get_cPickMode()

const int MP_HIT_BODY = 3

geometry from body group picked

const int MP_HIT_CADPREVIEW = 9

geomety in CAD Preview picked

const int MP_HIT_COORSYS = 8

geomety coorsys picked

const int MP_HIT_INVALID = 0

invalid item picked

const int MP_HIT_LINE = 6

line picked

const int MP_HIT_MEASURE = 10

Coorsys picked.

const int MP_HIT_POINT = 7

point picked

const int MP_HIT_POLY = 5

center of polygon picked (normal avialable)

const int MP_HIT_ROBOT = 1

geometry from robot group picked

const int MP_HIT_TAG = 4

tag picked

const int MP_HIT_TOOL = 2

geometry from tool group picked

const int MP_INVALID = 0

Picking mode not selected, Get_cPickMode()

const int MP_POINT = 2

Picking mode select point/vertex, Get_cPickMode()

const int MP_SEL_BODY = 1

Picking mode select body/geometry, Get_cPickMode()

const float mps2mmpmin =(60000.0f)

converts [m] per seconds into [mm] per minute

const int Navigator_Window_DLG = 6

open/close non modal navigator window dialog

const int NUM_SIM_VIEWS = 4

Number of possible simulation views, per default view #1 is active.

const int Online_Output_Data_DLG = 1

open/close another output data dialog

const double PI = 3.1415926535897932385

PI 180.

const int PICK_RESULT_CIRCLE_iCENTER = 7

circle center

const int PICK_RESULT_CIRCLE_iNORMAL = 8

circle normal

const int PICK_RESULT_CIRCLE_PHI = 10

circle phi

const int PICK_RESULT_CIRCLE_RADIUS = 9

circle radius

const int PICK_RESULT_DEFAULT = 0

same as iPOINTS

const int PICK_RESULT_DISTANCE = 6

lengths of idXYZ

const int PICK_RESULT_idXYZ = 5

distance w.r.t. inertia system

const int PICK_RESULT_iNORMALS = 4

normal w.r.t. inertia system

const int PICK_RESULT_iPOINTS = 3

position w.r.t. inertia system

const int PICK_RESULT_oNORMALS = 2

normal w.r.t. obj

const int PICK_RESULT_oPOINTS = 1

position w.r.t. obj

const double PIH = 1.5707963267948966192

PI/2 90.

const double PIQ = 0.7853981633974483096

PI/4 45 deg.

const double PIT = 1.0471975511965977462

PI/3 60.

const int Program_Window_DLG = 2

open/close non modal program window dialog

const int PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE = 4

Solution inside valid travel ranges , if possible.

const int PTP_TARGET_CALC_MODE_MATH = 3

Solution in [-180, 180].

const int PTP_TARGET_CALC_MODE_SHORTEST_ANGLE = 1

Solution shortest angle.

const int PTP_TARGET_CALC_MODE_TURNS = 2

Solution w.r.t given turns.

const int PTP_TARGET_CALC_MODE_UNDEF = 0

default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE

const int PTP_TARGET_CALC_MODE_VAR_CONFIG = 5

Nearest solution, will maybe change configuration.

const int PYRAMID_CAD_TYPE = 2

X, Y, Height, dx, dy.

const double RAD = 1.7453292519943295769E-2

conversion from degree to radiants PI/180

const int REF_BASE = 2

reference system is robot Base coorsys

const int REF_CAD = 7

reference system is geometry

const int REF_GRAB = 10

reference system is robot Flange, Tip coorsys

const int REF_JNT = 9

reference system is a robot Joint

const int REF_NO_REF = 1

no reference system defined

const int REF_TAG = 6

reference system is tag

const int REF_TIP = 8

reference system is robot Flange, Tip coorsys

const int REF_TOOL = 3

reference system is robot Tool, Tcp coorsys

const int REF_WOBJ = 5

reference system is path work object

const int REF_WORLD = 4

reference system is World, Inertia coorsys

const int Remote_Control_DLG = 10

open/close non modal remote control dialog

const int ROBOT_GRP = 0

Robot group type.

const int ROBOT_TYPE_ACCESSORY = 9

Device is an accessory.

const int ROBOT_TYPE_CONVEYOR = 5

Device is Conveyor.

const int ROBOT_TYPE_EXTAXIS = 7

Device is external axis.

const int ROBOT_TYPE_FIXTURE = 8

Device is a fixture.

const int ROBOT_TYPE_MISCELLANEOUS = 10

Device miscellaneous.

const int ROBOT_TYPE_POSITIONER = 6

Device is Positioner.

const int ROBOT_TYPE_ROBOT = 2

Device is Robot.

const int ROBOT_TYPE_SENSOR = 12

Device is a sensor.

const int ROBOT_TYPE_TOOL = 3

Device is Tool.

const int ROBOT_TYPE_TRACK = 4

Device is Track.

const int ROBOT_TYPE_UNDEF = 1

Device property undefined.

const int ROBOT_TYPE_WORKPIECE = 11

Device is a work piece.

const int ROT_ANGLE_1 = 15

One Axis Angle.

const int ROT_CA = 8

Tricept C-RotZ, A-RotX, NC.

const int ROT_IDENT = 0

Rotoation set to identity.

const int ROT_IDX_ABB = ROT_QUAT

Rotation notation ABB Quaternions.

const int ROT_IDX_BM = ROT_ZYpZ

Rotation notation b+m Surface Systems RzRy'Rz''.

const int ROT_IDX_BOSCH = ROT_YXZ

Rotation notation Bosch RyRz'Rx''.

const int ROT_IDX_COMAU_C4G = ROT_ZYpZ

Rotation notation Comau RzRy'Rz''.

const int ROT_IDX_DENSO = ROT_RPY

Rotation notation Denso Roll Pitch Yaw.

const int ROT_IDX_EASY_ROB = ROT_XYZ

Rotation notation EASY-ROB RxRy'Rz''.

const int ROT_IDX_FANUC = ROT_RPY

Rotation notation Fanuc Roll Pitch Yaw.

const int ROT_IDX_KOBELCO = ROT_ZYX

Rotation notation Kobelco RzRy'Rx''.

const int ROT_IDX_KUKA = ROT_ZYX

Rotation notation Kuka RzRy'Rx''.

const int ROT_IDX_MITSUBISHI = ROT_RPY

Rotation notation Mitsubishi Roll Pitch Yaw.

const int ROT_IDX_NC = ROT_CA

Rotation notation C-RotZ, A-RotX.

const int ROT_IDX_OTC = ROT_RPY

Rotation notation OTC Roll Pitch Yaw.

const int ROT_IDX_REIS = ROT_ZYX

Rotation notation Reis RzRy'Rx''.

const int ROT_IDX_STAUBLI_CS7 = ROT_ZYZ

Rotation notation Staubli CS7 RzRy'Rz''.

const int ROT_IDX_STAUBLI_CS8 = ROT_XYZ

Rotation notation Staubli CS8 RxRy'Rz''.

const int ROT_IDX_UR = ROT_ANGLE_1

Rotation notation one axis angle.

const int ROT_IJK = 14

Approach Axis.

const int ROT_QUAT = 7

Quaternion, ABB.

const int ROT_RPY = 6

Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso.

const int ROT_VEW_TYPE_CAD_PREVIEW = 0x100

cad preview

const int ROT_VEW_TYPE_CEL_LOADED = 0x4

simulation view defined when loadeding a cel file

const int ROT_VEW_TYPE_CURRENT = 0x1

current simulation view

const int ROT_VEW_TYPE_INIT = 0x2

initial simulation view when EASY-ROB starts

const int ROT_VEW_TYPE_OPENGL_OFFSET = 0x8

generell transformation from OpenGL origin to ER world frame

const int ROT_VEW_TYPE_SIM_1 = 0x10

rotation view for simulation view #1

const int ROT_VEW_TYPE_SIM_2 = 0x20

rotation view for ssimulation view #2

const int ROT_VEW_TYPE_SIM_3 = 0x40

rotation view for ssimulation view #3

const int ROT_VEW_TYPE_SIM_4 = 0x80

rotation view for ssimulation view #4

const int ROT_VEW_TYPE_UNDEF = 0x0

no operation

const int ROT_X = 1

Rotoation about X axis.

const int ROT_XYX = 5

txt_tbd

const int ROT_XYZ = 1

RotX*RotY*RotZ, EASY-ROB, Staeubli CS8.

const int ROT_Y = 2

Rotoation about Y axis.

const int ROT_Y9XZ = 10

RotY*RotX*RotZ,b+m T1 xx7xx, [-90..+90] [-180..+180] [-180..+180] (~BOSCH)

const int ROT_YXZ = 3

RotY*RotX*RotZ, BOSCH.

const int ROT_Z = 3

Rotoation about Z axis.

const int ROT_Z9XY = 11

RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180].

const int ROT_Z9XZ = 12

RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180].

const int ROT_Z9YX = 13

RotZ*RotY*RotX,b+m T1 xx4xx, [-90..+90] [-180..+180] [-180..+180] (~KUKA)

const int ROT_ZYpZ = 9

RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, COMAU C5G, Euler.

const int ROT_ZYX = 2

RotZ*RotY*RotX, KUKA, Reis, Kobelco.

const int ROT_ZYZ = 4

RotZ*RotY*RotZ, Staeubli CS7.

const int RUN_MODUS = 1

Program running.

const int Sensor_Interface_DLG = 11

open/close non modal sensor interface window dialog

const int SPHERE_CAD_TYPE = 6

Radius, y Scale, Angle, beta 1, beta 2.

Start Condition pre definition for all settings.

const int START_CONDITION_ALL_PATHES = 0x80000

Start Condition all Pathes.

const int START_CONDITION_CURRENT_ROBOT = 0x4

Start Condition for current Robot.

const int START_CONDITION_ENVIRONMENT_BODIES = 0x1000

Start Condition all Environment bodies.

const int START_CONDITION_FOR_ALL_ROBOTS = 0x8

Start Condition for all Robots.

const int START_CONDITION_PATH = 0x40000

Start Condition Condition current Path.

const int START_CONDITION_RESET = 0x1

Start Condition Reset status to start condition.

const int START_CONDITION_RESET_ALL_ROBOTS = START_CONDITION_RESET | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL

Start Condition Reset for all Robots + Environment.

const int START_CONDITION_RESET_CURRENT_ROBOT = START_CONDITION_RESET | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL

Start Condition Reset for current Robots + Environment.

const int START_CONDITION_ROBOT_BASE_POSITION = 0x40

Start Condition Robot Base Position.

const int START_CONDITION_ROBOT_BODIES = 0x400

Start Condition all Robot bodies.

const int START_CONDITION_ROBOT_JOINTS = 0x10

Start Condition Robot Joints.

const int START_CONDITION_ROBOT_REFERENCE = 0x20

Start Condition Robot Reference.

const int START_CONDITION_ROBOT_RENDER = 0x100

Start Condition Robot Render.

const int START_CONDITION_ROBOT_TOOL_DATA = 0x80

Start Condition Robot Tool data.

const int START_CONDITION_ROBOT_TOOL_RENDER = 0x200

Start Condition Robot Tool Render.

const int START_CONDITION_SAVE = 0x2

Start Condition Save current status to start condition.

const int START_CONDITION_SAVE_ALL_ROBOTS = START_CONDITION_SAVE | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL

Start Condition Save for all Robots + Environment.

const int START_CONDITION_SAVE_CURRENT_ROBOT = START_CONDITION_SAVE | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL

Start Condition Save for current Robots + Environment.

const int START_CONDITION_TAG_POSITION = 0x20000

Start Condition Tag Position.

const int START_CONDITION_TOOL_BODIES = 0x800

Start Condition all Tool bodies.

const int START_CONDITION_WOBJ_POSITION = 0x10000

Start Condition Wobj Position.

const int STL_CAD_TYPE = 11

X, Y, Z scale;.

const int STOP_MODUS = 2

Program runing and on hold.

const int SYS_SYSTEM_FOLDER_DIRECTORY_APPLICATION_DIR = 101

Application directory.

const int SYS_SYSTEM_FOLDER_DIRECTORY_CONIFG_FILE = 10

configuration file 'config.dat', resides in Application directory

const int SYS_SYSTEM_FOLDER_DIRECTORY_EDIT_PRG = 201

Editor program, defined in config.dat.

const int SYS_SYSTEM_FOLDER_DIRECTORY_ENVIRONMENT_FILE = 13

environment file 'easy-rob.env', resides in USRDIR

const int SYS_SYSTEM_FOLDER_DIRECTORY_KERNEL_IO_DIR = 105

Kernel IO, defined in config.dat.

const int SYS_SYSTEM_FOLDER_DIRECTORY_LICENSE_FILE = 11

license file 'license.dat', resides in 'LICENSE=' definition in config.dat

const int SYS_SYSTEM_FOLDER_DIRECTORY_LIST = 1

List all system folder and directories in a message window.

const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_FILE = 15

Device Manager: Load from Library file 'er_LoadFromLibPb.ini', resides in USRDIR.

const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_PREFERRED_FILE = 16

Device Manager: Load from Library Preferred file 'er_LoadFromLibPb_prefered.ini', resides in USRDIR.

const int SYS_SYSTEM_FOLDER_DIRECTORY_MONITORING_FILE = 12

monitoring file 'moni_msg.txt', resides in TMPDIR

const int SYS_SYSTEM_FOLDER_DIRECTORY_TMP_DIR = 104

Temp directory, defined in config.dat, individual or depending on environment variable TMP%.

const int SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF = 0

Request Idx undefined.

const int SYS_SYSTEM_FOLDER_DIRECTORY_USR_DIR = 103

User directory, defined in config.dat, individual or depending on environment variable USERPROFILE%.

const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_DIR = 102

current working directory

const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_PATHES_FILE = 14

working pathes file 'easy-rob.pth', resides in USRDIR

const int TAG_MOTYPE_CIRC = 3

motion type CIRC

const int TAG_MOTYPE_DEF = 0

motion type default, i.e. use current motion type

const int TAG_MOTYPE_LIN = 2

motion type LIN

const int TAG_MOTYPE_PTP = 1

motion type PTP

const int TAG_MOTYPE_SLEW = 5

motion type SLEW

const int TAG_MOTYPE_VIA = 4

motion type VIA

const int Tag_Window_DLG = 5

open/close non modal tag window dialog

const int Teach_Window_DLG = 3

open/close non modal teach dialog

const int TOOL_GRP = 1

Tool group type.

const double TPI = 6.2831853071795864769

2*PI 360

const double TPIH = 4.7123889803846898577

3*PI/2 270

const int UNDEF_CAD_TYPE = 0

undefined CAD type

const int UNDEF_GRP = -1

undefined Group type

const int USER_DLL_CALLBACK_AUXUPDATE_MAX = 12

Max number of callback fct for AuxUpdate, see set_callback_AuxUpdate.

const int USER_DLL_CALLBACK_PROGLINEUPDATE_MAX = 12

Max number of callback fct for ProglineUpdate, see set_callback_ProglineUpdate.

const int VRML_97_Export_DLG = 15

open non modal vrml export dialog (ER_PlugIn)

const int VRML_CAD_TYPE = 8

X, Y, Z scale.

const int WARN_CNFG = 3

Error in configuration.

const int WARN_NO_INVKIN = 4

Robot has no inverse kinematics.

const int WARN_OK = 0

Inverse solution OK.

const int WARN_SINGULAR = 1

Robot is in a singularity.

const int WARN_SWE_EXCEED = 5

Location reachable but travel ranges are exceeded.

const int WARN_UNREACH = 2

Location an reachable.

const int WEDGE_CAD_TYPE = 3

X, Y, Height X top, Y top, dx dy.

const int WIN_AUSG = -2

txt_tbd

Zoom flag default setting.

const int ZOOM_FLAG_FIT_ROT_VIEW = 0x1

Zoom flag Fit 3D Scene.

const int ZOOM_FLAG_GRF_UPDATE = 0x8

Zoom flag Performe a grafics update.

const int ZOOM_FLAG_SET_CM_AUTO = 0x4

Zoom flag Enables CruiseMode AUTO.

const int ZOOM_FLAG_SET_COI = 0x2

Zoom flag Set and calculate new COI location w.r.t. world coorsys.

const int ZOOM_FLAG_UNDEF = 0x0

Zoom flag undefined.

const int ZOOM_FLAG_VIEW_IPO = 0x10

Zoom flag Interpolate to the new perspective.