EASY-ROB™ Application Programming Interface
v9.301
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Go to the source code of this file.
Classes | |
struct | tframe |
struct | _ROB_DH |
struct | _AutoPath_SDK_ConfigurationSpace |
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 _AutoPath_SDK_ConfigurationSpace | AutoPath_SDK_ConfigurationSpace |
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 int | DOF36 = 36 |
36 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 | CAD_TO_PATH_INTERFACE_DLG = 19 |
open/close non modal CAD-to-Path Interface 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 | SNAP_TO_MODE_POLYGON = 0 |
Snap device, tool, tag or body to polygon. More... | |
const int | SNAP_TO_MODE_VERTEX = 1 |
Snap device, tool, tag or body to vertex. 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_TRIPPLE_PLANE_CIRCLE = 6 |
Picking mode measure circle by three plane, Get_cPickMode() More... | |
const int | MP_DOUBLE_PLANE_LINE = 7 |
Picking mode measure intersection line by two planes, Get_cPickMode() More... | |
const int | MP_DOUBLE_PLANE_EDGE_FOLLOWER = 8 |
Picking mode edge following started by two planes, Get_cPickMode() More... | |
const int | MP_TRIPPLE_PLANE_CORNER = 9 |
Picking mode measure intersection corner by three planes, 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 available) 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 |
geometry coorsys or element picked More... | |
const int | MP_HIT_CADPREVIEW = 9 |
geometry 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 | PICK_RESULT_CIRCLE_ARC = 11 |
circle arc 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 | _3DHTML_EXPORT_OK = _3DPDF_EXPORT_OK |
3D_Html_Export method successful More... | |
const int | _3DHTML_EXPORT_ERROR = _3DPDF_EXPORT_ERROR |
Error in 3D Html Export method. More... | |
const int | _3DHTML_EXPORT_VALUES = _3DPDF_EXPORT_VALUE |
Error in 3D Html 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_GET_LICENSE_TEXT = 0x800 |
3D_Pdf_Export Get text from 'K3D-License.txt' file 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 save 3D_Pdf Layout to *.3pl file 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 | _3DHTML_EXPORT_CLEAR_PARAMETER_USR = 0x10 |
3D_Export Clear all HTML user defined Parameter More... | |
const int | _3DHTML_EXPORT_SET_PARAMETER_USR = 0x20 |
3D_Export Add a HTML user defined Parameter More... | |
const int | _3DHTML_EXPORT_SET_PARAMETER_DEFAULT = 0x40 |
3D_Export Set default predefined Parameters for 'title', 'header' and 'image_link' More... | |
const int | _3DHTML_EXPORT_SET_PARAMETER_TITLE = 0x80 |
3D_Export Add a HTML predefined Parameters value for name 'title' More... | |
const int | _3DHTML_EXPORT_SET_PARAMETER_HEADER = 0x100 |
3D_Export Add a HTML predefined Parameters value for name 'header' More... | |
const int | _3DHTML_EXPORT_SET_PARAMETER_IMAGELINK = 0x200 |
3D_Export Add a HTML predefined Parameters value for name 'image_link' More... | |
const int | _3DHTML_EXPORT_LOAD_TEMPLATE_FILE = 0x1000 |
3D_Export load 3D WebGL Html Template from *.html file 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 double | AUTOPATH_KIN_EPSI = 0.5e-6 |
epsi More... | |
const int | AUTOPATH_KIN_DOFS = 24 |
Maximum number of configuration space (Degrees-of-Freedom for a kinematics) More... | |
const int | AUTOPATH_AXIS_BIT_ALL = 0x0 |
axisBit Axis all More... | |
const int | AUTOPATH_AXIS_BIT_1 = 0x1 |
axisBit Axis 1 More... | |
const int | AUTOPATH_AXIS_BIT_2 = 0x2 |
axisBit Axis 2 More... | |
const int | AUTOPATH_AXIS_BIT_3 = 0x4 |
axisBit Axis 3 More... | |
const int | AUTOPATH_AXIS_BIT_4 = 0x8 |
axisBit Axis 4 More... | |
const int | AUTOPATH_AXIS_BIT_5 = 0x10 |
axisBit Axis 5 More... | |
const int | AUTOPATH_AXIS_BIT_6 = 0x20 |
axisBit Axis 6 More... | |
const int | AUTOPATH_AXIS_BIT_7 = 0x40 |
axisBit Axis 7 More... | |
const int | AUTOPATH_AXIS_BIT_8 = 0x80 |
axisBit Axis 8 More... | |
const int | AUTOPATH_AXIS_BIT_9 = 0x100 |
axisBit Axis 9 More... | |
const int | AUTOPATH_AXIS_BIT_10 = 0x200 |
axisBit Axis 10 More... | |
const int | AUTOPATH_AXIS_BIT_11 = 0x400 |
axisBit Axis 11 More... | |
const int | AUTOPATH_AXIS_BIT_12 = 0x800 |
axisBit Axis 12 More... | |
const int | AUTOPATH_AXIS_BIT_13 = 0x1000 |
axisBit Axis 13 More... | |
const int | AUTOPATH_AXIS_BIT_14 = 0x2000 |
axisBit Axis 14 More... | |
const int | AUTOPATH_AXIS_BIT_15 = 0x4000 |
axisBit Axis 15 More... | |
const int | AUTOPATH_AXIS_BIT_16 = 0x8000 |
axisBit Axis 16 More... | |
const int | AUTOPATH_AXIS_BIT_17 = 0x10000 |
axisBit Axis 17 More... | |
const int | AUTOPATH_AXIS_BIT_18 = 0x20000 |
axisBit Axis 18 More... | |
const int | AUTOPATH_AXIS_BIT_19 = 0x40000 |
axisBit Axis 19 More... | |
const int | AUTOPATH_AXIS_BIT_20 = 0x80000 |
axisBit Axis 20 More... | |
const int | AUTOPATH_AXIS_BIT_21 = 0x100000 |
axisBit Axis 21 More... | |
const int | AUTOPATH_AXIS_BIT_22 = 0x200000 |
axisBit Axis 22 More... | |
const int | AUTOPATH_AXIS_BIT_23 = 0x400000 |
axisBit Axis 23 More... | |
const int | AUTOPATH_AXIS_BIT_24 = 0x800000 |
axisBit Axis 24 More... | |
const int | AUTOPATH_AXIS_BIT_DOF6 = 0x3F |
axisBit Axis 1..6 More... | |
const int | AUTOPATH_OK = 0 |
AutoPath method successful. More... | |
const int | AUTOPATH_ERROR = 1 |
Error in AutoPath method. More... | |
const int | AUTOPATH_INVALID_LICENSE = 2 |
Error, AutoPath not licensed. 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_PARAMETER_THREAD_EXECUTION = 8 |
Enables Thread Execution: 1-on, 0-off. More... | |
const int | AUTOPATH_PARAMETER_SEED_VALUE = 9 |
Random starting seed value to influence findpath behavior. 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_AXIS_TYPE_ROBOT = 1 |
Axis Type Robot axis. More... | |
const int | AUTOPATH_AXIS_TYPE_TRACK = 2 |
Axis Type External Track axis. More... | |
const int | AUTOPATH_AXIS_TYPE_POSITIONER = 3 |
Axis Type External Positioner axis. More... | |
const int | AUTOPATH_AXIS_TYPE_EXTERN = 4 |
Axis Type other external Axis. More... | |
const int | AUTOPATH_AXIS_TYPE_AUX = 5 |
Axis Type Aux Axis. 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_RESULT_SEED_VALUE = 8 |
Random starting seed value to influence findpath behavior. More... | |
const int | AUTOPATH_RESULT_QUALITY_INDEX = 9 |
Quality Index based on calculated way points. More... | |
const int | AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV = 10 |
Quality Index Standard Deviation, based on calculated way points. 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_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 Update Devices for callback fct SetCallback_CheckConstraints() More... | |
const int | AUTOPATH_CHK_CONSTRAINT_UNDEF = 0x0 |
action parameter is undefined for callback fct SetCallback_CheckConstraints() More... | |
const int | AUTOPATH_CHK_CONSTRAINT_START = 0x1 |
action parameter is StartPose for callback fct SetCallback_CheckConstraints() More... | |
const int | AUTOPATH_CHK_CONSTRAINT_DEST = 0x2 |
action parameter is DestPose 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 = 0x100 |
action parameter chk constraint for callback fct SetCallback_CheckConstraints() 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 | AUTOPATH_STATUS_MP_MIN_NUM_WAYPOINTS = 0x40000 |
AutoPath minimize number of WayPoint. More... | |
const int | AUTOPATH_STATUS_MP_DEL_WAYPOINTS = 0x80000 |
AutoPath delete at least one WayPoint, while minimize number of way points. More... | |
const int | AUTOPATH_AXIS_ROT = 0 |
Axis is rotational. More... | |
const int | AUTOPATH_AXIS_TRANS = 1 |
Axis is translational. 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 |
obsolete Enable/disable 3D Pdf Export trough ERCL More... | |
const int | ERC_3D_EXPORT_ERCL = 54 |
Enable/disable 3D 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 | ERC_DRAW_PICKING_RESULTS_ALL = 59 |
Enable/disable All picking results. More... | |
const int | ERC_DRAW_PICKING_RESULTS_DEVICE = 60 |
Enable/disable Picking result showing a line to selected device. More... | |
const int | ERC_DRAW_PICKING_RESULTS_BODYCOORSYS = 61 |
Enable/disable Picking result showing a line to selected body coorsys. More... | |
const int | ERC_DRAW_PICKING_RESULTS_VERTEX = 62 |
Enable/disable Picking result showing a line to selected vertex. More... | |
const int | ERC_DRAW_PICKING_RESULTS_POLYGON = 63 |
Enable/disable Picking result showing a line to selected polygon. More... | |
const int | ERC_DRAW_PICKING_RESULTS_DISTANCE = 64 |
Enable/disable Picking result showing a line from distance measure. More... | |
const int | ERC_DRAW_PICKING_RESULTS_TAG = 65 |
Enable/disable Picking result showing a line to selected tag. More... | |
const int | ERC_DRAW_PICKING_RESULTS_BODY_BBOX = 66 |
Enable/disable Picking result showing a bbox of curren selected body. 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 | COORSYS_RENDER_STYLE_COORSYS_XYZ = 0 |
Coorsys rendering style: XYZ Coorsys. More... | |
const int | COORSYS_RENDER_STYLE_APPROACH_Zx = 1 |
Coorsys rendering style: Approach Zx. More... | |
const int | COORSYS_RENDER_STYLE_APPROACH_Xy = 2 |
Coorsys rendering style: Approach Xy. More... | |
const int | COORSYS_RENDER_STYLE_APPROACH_Yz = 3 |
Coorsys rendering style: Approach Zx. More... | |
const int | COORSYS_RENDER_STYLE_POINT = 4 |
Coorsys rendering style: Point, Vertex. More... | |
const int | COORSYS_RENDER_STYLE_INVISIBLE = 5 |
Coorsys rendering style: Invisible. More... | |
const int | COORSYS_RENDER_STYLE_DEFAULT = COORSYS_RENDER_STYLE_COORSYS_XYZ |
Coorsys default rendering style. More... | |
const int | COORSYS_STYLE_DEFAULT = 0 |
Coorsys style: Default. More... | |
const int | COORSYS_STYLE_STANDARD = 1 |
Coorsys style: Standard. More... | |
const int | COORSYS_STYLE_CURRENT = 2 |
Coorsys style: Current Coorsys. More... | |
const int | COORSYS_STYLE_CURRENT_BIG = 3 |
Coorsys style: Big current Coorsys. More... | |
const int | COORSYS_STYLE_JOG = 4 |
Coorsys style: Jog. More... | |
const int | COORSYS_Z_BUFFERING_OFF = 0 |
Coorsys Z-Buffering OFF. More... | |
const int | COORSYS_Z_BUFFERING_ON = 1 |
Coorsys Z-Buffering ON. 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_CADTOPATH = 10 |
License 'CAD-to-Path'. 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_UR = 24 |
License RobotLib UR. 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_BM = 30 |
License RobotLib b+m. 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_PRIORITY_UNDEF = 0x0 |
license priority not defined More... | |
const int | ER_LIC_PRIORITY_LMNGR = 0x1 |
check Lmngr license first More... | |
const int | ER_LIC_PRIORITY_LOCAL = 0x2 |
check local license first More... | |
const int | ER_LIC_PRIORITY_DEFAULT = ER_LIC_PRIORITY_LMNGR |
check Lmngr license first 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 struct _AutoPath_SDK_ConfigurationSpace AutoPath_SDK_ConfigurationSpace |
typedef enum _CIRC_ORI_IPO_MODE CIRC_ORI_IPO_MODE |
Circular Orientation settings at via point
typedef enum _CIRC_ORI_MODE CIRC_ORI_MODE |
Circular Orientation settings
typedef struct _COLL_DEVICE COLL_DEVICE |
typedef struct _COLL_DEVICE_TUPEL COLL_DEVICE_TUPEL |
typedef struct _COLL_PAIR COLL_PAIR |
typedef struct _COLL_PROBE COLL_PROBE |
typedef enum _LIN_ORI_MODE LIN_ORI_MODE |
Linear Orientation settings
typedef enum _STATUS_OUTPUT_TYPE STATUS_OUTPUT_TYPE |
Status Output settings
enum _CIRC_ORI_IPO_MODE |
Circular Orientation settings at via point
enum _CIRC_ORI_MODE |
Circular Orientation settings
enum _IPO_MODE |
Motion Types
enum _LIN_ORI_MODE |
enum _STATUS_OUTPUT_TYPE |
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 _3DHTML_EXPORT_CLEAR_PARAMETER_USR = 0x10 |
3D_Export Clear all HTML user defined Parameter
const int _3DHTML_EXPORT_ERROR = _3DPDF_EXPORT_ERROR |
Error in 3D Html Export method.
const int _3DHTML_EXPORT_LOAD_TEMPLATE_FILE = 0x1000 |
3D_Export load 3D WebGL Html Template from *.html file
const int _3DHTML_EXPORT_OK = _3DPDF_EXPORT_OK |
3D_Html_Export method successful
const int _3DHTML_EXPORT_SET_PARAMETER_DEFAULT = 0x40 |
3D_Export Set default predefined Parameters for 'title', 'header' and 'image_link'
const int _3DHTML_EXPORT_SET_PARAMETER_HEADER = 0x100 |
3D_Export Add a HTML predefined Parameters value for name 'header'
const int _3DHTML_EXPORT_SET_PARAMETER_IMAGELINK = 0x200 |
3D_Export Add a HTML predefined Parameters value for name 'image_link'
const int _3DHTML_EXPORT_SET_PARAMETER_TITLE = 0x80 |
3D_Export Add a HTML predefined Parameters value for name 'title'
const int _3DHTML_EXPORT_SET_PARAMETER_USR = 0x20 |
3D_Export Add a HTML user defined Parameter
const int _3DHTML_EXPORT_VALUES = _3DPDF_EXPORT_VALUE |
Error in 3D Html Export method.
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_LICENSE_TEXT = 0x800 |
3D_Pdf_Export Get text from 'K3D-License.txt' file
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 save 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_AXIS_BIT_1 = 0x1 |
axisBit Axis 1
const int AUTOPATH_AXIS_BIT_10 = 0x200 |
axisBit Axis 10
const int AUTOPATH_AXIS_BIT_11 = 0x400 |
axisBit Axis 11
const int AUTOPATH_AXIS_BIT_12 = 0x800 |
axisBit Axis 12
const int AUTOPATH_AXIS_BIT_13 = 0x1000 |
axisBit Axis 13
const int AUTOPATH_AXIS_BIT_14 = 0x2000 |
axisBit Axis 14
const int AUTOPATH_AXIS_BIT_15 = 0x4000 |
axisBit Axis 15
const int AUTOPATH_AXIS_BIT_16 = 0x8000 |
axisBit Axis 16
const int AUTOPATH_AXIS_BIT_17 = 0x10000 |
axisBit Axis 17
const int AUTOPATH_AXIS_BIT_18 = 0x20000 |
axisBit Axis 18
const int AUTOPATH_AXIS_BIT_19 = 0x40000 |
axisBit Axis 19
const int AUTOPATH_AXIS_BIT_2 = 0x2 |
axisBit Axis 2
const int AUTOPATH_AXIS_BIT_20 = 0x80000 |
axisBit Axis 20
const int AUTOPATH_AXIS_BIT_21 = 0x100000 |
axisBit Axis 21
const int AUTOPATH_AXIS_BIT_22 = 0x200000 |
axisBit Axis 22
const int AUTOPATH_AXIS_BIT_23 = 0x400000 |
axisBit Axis 23
const int AUTOPATH_AXIS_BIT_24 = 0x800000 |
axisBit Axis 24
const int AUTOPATH_AXIS_BIT_3 = 0x4 |
axisBit Axis 3
const int AUTOPATH_AXIS_BIT_4 = 0x8 |
axisBit Axis 4
const int AUTOPATH_AXIS_BIT_5 = 0x10 |
axisBit Axis 5
const int AUTOPATH_AXIS_BIT_6 = 0x20 |
axisBit Axis 6
const int AUTOPATH_AXIS_BIT_7 = 0x40 |
axisBit Axis 7
const int AUTOPATH_AXIS_BIT_8 = 0x80 |
axisBit Axis 8
const int AUTOPATH_AXIS_BIT_9 = 0x100 |
axisBit Axis 9
const int AUTOPATH_AXIS_BIT_ALL = 0x0 |
axisBit Axis all
const int AUTOPATH_AXIS_BIT_DOF6 = 0x3F |
axisBit Axis 1..6
const int AUTOPATH_AXIS_ROT = 0 |
Axis is rotational.
const int AUTOPATH_AXIS_TRANS = 1 |
Axis is translational.
const int AUTOPATH_AXIS_TYPE_AUX = 5 |
Axis Type Aux Axis.
const int AUTOPATH_AXIS_TYPE_EXTERN = 4 |
Axis Type other external Axis.
const int AUTOPATH_AXIS_TYPE_POSITIONER = 3 |
Axis Type External Positioner axis.
const int AUTOPATH_AXIS_TYPE_ROBOT = 1 |
Axis Type Robot axis.
const int AUTOPATH_AXIS_TYPE_TRACK = 2 |
Axis Type External Track axis.
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_DEST = 0x2 |
action parameter is DestPose for callback fct SetCallback_CheckConstraints()
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE = 0x100 |
action parameter chk constraint 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 = 0x1 |
action parameter is StartPose 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 Update Devices 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_INVALID_LICENSE = 2 |
Error, AutoPath not licensed.
const int AUTOPATH_KIN_DOFS = 24 |
Maximum number of configuration space (Degrees-of-Freedom for a kinematics)
const double AUTOPATH_KIN_EPSI = 0.5e-6 |
epsi
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_SEED_VALUE = 9 |
Random starting seed value to influence findpath behavior.
const int AUTOPATH_PARAMETER_THREAD_EXECUTION = 8 |
Enables Thread Execution: 1-on, 0-off.
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_QUALITY_INDEX = 9 |
Quality Index based on calculated way points.
const int AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV = 10 |
Quality Index Standard Deviation, based on calculated way points.
const int AUTOPATH_RESULT_SECONDS = 2 |
Elapsed time in seconds for AutoPath calculation.
const int AUTOPATH_RESULT_SEED_VALUE = 8 |
Random starting seed value to influence findpath behavior.
const int AUTOPATH_STATUS_MP_ABORT = 0x2000 |
AutoPath calculation aborted.
const int AUTOPATH_STATUS_MP_DEL_WAYPOINTS = 0x80000 |
AutoPath delete at least one WayPoint, while minimize number of way points.
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_MIN_NUM_WAYPOINTS = 0x40000 |
AutoPath minimize number of WayPoint.
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.
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.
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 CAD_TO_PATH_INTERFACE_DLG = 19 |
open/close non modal CAD-to-Path Interface 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 COORSYS_RENDER_STYLE_APPROACH_Xy = 2 |
Coorsys rendering style: Approach Xy.
const int COORSYS_RENDER_STYLE_APPROACH_Yz = 3 |
Coorsys rendering style: Approach Zx.
const int COORSYS_RENDER_STYLE_APPROACH_Zx = 1 |
Coorsys rendering style: Approach Zx.
const int COORSYS_RENDER_STYLE_COORSYS_XYZ = 0 |
Coorsys rendering style: XYZ Coorsys.
const int COORSYS_RENDER_STYLE_DEFAULT = COORSYS_RENDER_STYLE_COORSYS_XYZ |
Coorsys default rendering style.
const int COORSYS_RENDER_STYLE_INVISIBLE = 5 |
Coorsys rendering style: Invisible.
const int COORSYS_RENDER_STYLE_POINT = 4 |
Coorsys rendering style: Point, Vertex.
const int COORSYS_STYLE_CURRENT = 2 |
Coorsys style: Current Coorsys.
const int COORSYS_STYLE_CURRENT_BIG = 3 |
Coorsys style: Big current Coorsys.
const int COORSYS_STYLE_DEFAULT = 0 |
Coorsys style: Default.
const int COORSYS_STYLE_JOG = 4 |
Coorsys style: Jog.
const int COORSYS_STYLE_STANDARD = 1 |
Coorsys style: Standard.
const int COORSYS_Z_BUFFERING_OFF = 0 |
Coorsys Z-Buffering OFF.
const int COORSYS_Z_BUFFERING_ON = 1 |
Coorsys Z-Buffering ON.
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 DOF36 = 36 |
36 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_CADTOPATH = 10 |
License 'CAD-to-Path'.
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_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_PRIORITY_DEFAULT = ER_LIC_PRIORITY_LMNGR |
check Lmngr license first
const int ER_LIC_PRIORITY_LMNGR = 0x1 |
check Lmngr license first
const int ER_LIC_PRIORITY_LOCAL = 0x2 |
check local license first
const int ER_LIC_PRIORITY_UNDEF = 0x0 |
license priority not defined
const int ER_LIC_ROB_ABB = 21 |
License RobotLib ABB.
const int ER_LIC_ROB_BM = 30 |
License RobotLib b+m.
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_ROB_UR = 24 |
License RobotLib UR.
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_EXPORT_ERCL = 54 |
Enable/disable 3D Export trough ERCL.
const int ERC_3D_PDF_EXPORT_ERCL = 54 |
obsolete 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_DRAW_PICKING_RESULTS_ALL = 59 |
Enable/disable All picking results.
const int ERC_DRAW_PICKING_RESULTS_BODY_BBOX = 66 |
Enable/disable Picking result showing a bbox of curren selected body.
const int ERC_DRAW_PICKING_RESULTS_BODYCOORSYS = 61 |
Enable/disable Picking result showing a line to selected body coorsys.
const int ERC_DRAW_PICKING_RESULTS_DEVICE = 60 |
Enable/disable Picking result showing a line to selected device.
const int ERC_DRAW_PICKING_RESULTS_DISTANCE = 64 |
Enable/disable Picking result showing a line from distance measure.
const int ERC_DRAW_PICKING_RESULTS_POLYGON = 63 |
Enable/disable Picking result showing a line to selected polygon.
const int ERC_DRAW_PICKING_RESULTS_TAG = 65 |
Enable/disable Picking result showing a line to selected tag.
const int ERC_DRAW_PICKING_RESULTS_VERTEX = 62 |
Enable/disable Picking result showing a line to selected vertex.
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 |
enable flag, ER_CAPI_SIM_ERPL::erc_onoff
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
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
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
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 |
default, see ER_CAPI_USER_IO_DIALOG::dialog_select()
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_DOUBLE_PLANE_EDGE_FOLLOWER = 8 |
Picking mode edge following started by two planes, Get_cPickMode()
const int MP_DOUBLE_PLANE_LINE = 7 |
Picking mode measure intersection line by two planes, Get_cPickMode()
const int MP_HIT_BODY = 3 |
geometry from body group picked
const int MP_HIT_CADPREVIEW = 9 |
geometry in CAD Preview picked
const int MP_HIT_COORSYS = 8 |
geometry coorsys or element 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 available)
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 int MP_TRIPPLE_PLANE_CIRCLE = 6 |
Picking mode measure circle by three plane, Get_cPickMode()
const int MP_TRIPPLE_PLANE_CORNER = 9 |
Picking mode measure intersection corner by three planes, 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_ARC = 11 |
circle arc
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 SNAP_TO_MODE_POLYGON = 0 |
Snap device, tool, tag or body to polygon.
const int SNAP_TO_MODE_VERTEX = 1 |
Snap device, tool, tag or body to vertex.
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
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.
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.