ER_CAPI_TYPES.H

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/*
        EASY-ROB Development V9.301

        EASY-ROB Software GmbH

        Copyright (c) 1996 - 2023

        modul: er_capi_types.h

        Last modification: JUL 2023

        Important changes:
*/
#ifndef ER_CAPI_TYPES_INCLUDE
#define ER_CAPI_TYPES_INCLUDE

#ifdef _WIN64
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Windows x64
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
typedef INT_PTR ER_UID;

#elif _WIN32
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Windows
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
typedef long ER_UID;    

#endif

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//   Constants
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
const int ER_OK = 0;                                                    
const int ER_ERROR = 1;                                                 
const int ER_CANCEL = -1;                                               
const int ER_CALCULATION_FAILED = -2;                   

const double PIQ =  0.7853981633974483096;              
const double PIT =  1.0471975511965977462;              
const double PIH =  1.5707963267948966192;              
const double PI  =  3.1415926535897932385;              
const double TPIH=  4.7123889803846898577;              
const double TPI =  6.2831853071795864769;              
const double DEG = 57.295779513082320877;               
const double RAD = 1.7453292519943295769E-2;    

const float fPI         = (float)PI;            
const float fDEG        = (float)DEG;           
const float fRAD        = (float)RAD;           

const int WIN_AUSG      = -2;                           

const float mm2m        = 0.001f;                       
const float m2mm        = 1000.0f;                      

const float inch2m      = 0.0254f;                      
const float m2inch      = (1/0.0254f);          

const float mps2mmpmin =(60000.0f);             
const float mmpmin2mps =(1/60000.0f);   

const long MAXSTR32                     =  32;          
const long MAXSTR64                     =  64;          
const long MAXSTR                       = 128;          
const long DMAXSTR                      = 256;          
const long LS_MAXSTR            = 512;          
const long HS_MAXSTR            = 1024;         
const long DS_MAXSTR            = 2048;         

const int DIM                           = 3;            
const int DOF6                          = 6;            
const int DOF_QUAT                      = 7;            
const int DOF9                          = 9;            
const int DOF12                         = 12;           
const int DOF36                         = 36;           

const double KIN_EPSI           = 0.5e-6;       


const int KIN_CONFIGS           = 8;            
const int KIN_DOFS                      = 12;           
const int KIN_PASSIV_JNTS   = 36;               
const int KIN_USER_DATA         = 12;           

const int KIN_TOOLS                     = 12;           
const int KIN_HOMEPOSITIONS = 12;               
const int KIN_PRGS                      = 12;           

// const for 'grp_type'
const int UNDEF_GRP                     = -1;           
const int ROBOT_GRP                     =  0;           
const int TOOL_GRP                      =  1;           
const int BODY_GRP                      =  2;           

// Attach(), Reattach(), Syn(): Reference Types
const int REF_NO_REF            = 1;            
const int REF_BASE                      = 2;            
const int REF_TOOL                      = 3;            
const int REF_WORLD                     = 4;            
const int REF_WOBJ                      = 5;            
const int REF_TAG                       = 6;            
const int REF_CAD                       = 7;            
const int REF_TIP                       = 8;            
const int REF_JNT                       = 9;            
const int REF_GRAB                      = 10;           

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//      Types
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
typedef struct tframe {
        float   n[3],           
                        o[3],           
                        a[3],           
                        p[3];           
} FRAME,frame;

typedef struct _ROB_DH {
        float theta,            
                d,                              
                a,                              
                alfa;                   
} ROB_DH;

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI;
// 
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_USER_IO;
// class ER_CAPI_USER_IO_FILE;
// class ER_CAPI_USER_IO_DIALOG;

//      ER_CAPI_USER_IO_DIALOG::dialog_open()
const int Online_Output_Data_DLG        = 1;    
const int Program_Window_DLG            = 2;    
const int Teach_Window_DLG                      = 3;    
const int Jog_Window_DLG                        = 4;    
const int Tag_Window_DLG                        = 5;    
const int Navigator_Window_DLG          = 6;    
const int _3D_CAD_Window_DLG            = 7;    
const int Kinematics_Window_DLG         = 8;    
const int Message_Window_DLG            = 9;    
const int Remote_Control_DLG            = 10;   
const int Sensor_Interface_DLG          = 11;   
const int Api_User_Dll_DLG                      = 12;   
const int ER_PlugIn_dll_DLG                     = 13;   
const int AVI_Recorder_DLG                      = 14;   
const int VRML_97_Export_DLG            = 15;   
const int CAD_IMPORT_DLG                        = 16;   
const int AUTOPATH_MOP_DLG                      = 17;   
const int _3D_PDF_Export_DLG            = 18;   
const int CAD_TO_PATH_INTERFACE_DLG = 19;       

const int DLG_Mode_Close                        = 0;    
const int DLG_Mode_Open                         = 1;    
const int DLG_Mode_Status                       = 2;    

// class ER_CAPI_USER_IO_PICK;
const int SNAP_TO_MODE_POLYGON          = 0;    
const int SNAP_TO_MODE_VERTEX           = 1;    

const int MP_INVALID                            = 0;    
const int MP_SEL_BODY                           = 1;    
const int MP_POINT                                      = 2;    
const int MP_DISTANCE                           = 3;    
const int MP_DISTANCE_DEVICE            = 4;    
const int MP_CIRCLE_CENTER                      = 5;    
const int MP_TRIPPLE_PLANE_CIRCLE       = 6;    
const int MP_DOUBLE_PLANE_LINE          = 7;    
const int MP_DOUBLE_PLANE_EDGE_FOLLOWER = 8;    
const int MP_TRIPPLE_PLANE_CORNER       = 9;    

const int MP_HIT_INVALID                        = 0;    
const int MP_HIT_ROBOT                          = 1;    
const int MP_HIT_TOOL                           = 2;    
const int MP_HIT_BODY                           = 3;    
const int MP_HIT_TAG                            = 4;    
const int MP_HIT_POLY                           = 5;    
const int MP_HIT_LINE                           = 6;    
const int MP_HIT_POINT                          = 7;    
const int MP_HIT_COORSYS                        = 8;    
const int MP_HIT_CADPREVIEW                     = 9;    
const int MP_HIT_MEASURE                        = 10;   

const int PICK_RESULT_DEFAULT            = 0;   
const int PICK_RESULT_oPOINTS            = 1;   
const int PICK_RESULT_oNORMALS           = 2;   
const int PICK_RESULT_iPOINTS            = 3;   
const int PICK_RESULT_iNORMALS           = 4;   
const int PICK_RESULT_idXYZ                      = 5;   
const int PICK_RESULT_DISTANCE           = 6;   
const int PICK_RESULT_CIRCLE_iCENTER = 7;       
const int PICK_RESULT_CIRCLE_iNORMAL = 8;       
const int PICK_RESULT_CIRCLE_RADIUS      = 9;   
const int PICK_RESULT_CIRCLE_PHI        = 10;   
const int PICK_RESULT_CIRCLE_ARC        = 11;   

// class ER_CAPI_USER_IO_CRUISE;
const int MM_CRUISE                     = 0;            
const int MM_TCP_JOG_WZKS       = 1;            
const int MM_TCP_JOG_WORLD      = 2;            
const int MM_JNT_JOG            = 3;            
const int MM_ROBBASE            = 4;            
const int MM_BODY                       = 5;            
const int MM_BODY_ALL           = 6;            
const int MM_TAG                        = 7;            
const int MM_BCKGNDCOLOR        = 8;            
const int MM_FLOORCOLOR         = 9;            
const int MM_TAG_OFFSET         = 10;           
const int MM_TOOL                       = 11;           
//const int MM_SELECTION                = 12;   ///< use MousePicking functions, such as er_vad_PickCruise() ....
const int MM_LIGHTPOS           = 13;           
const int MM_NEAR_FAR_PLANE     = 14;           
const int MM_TCP_JOG_BASE   = 15;               

const int ZOOM_FLAG_UNDEF                       = 0x0;          
const int ZOOM_FLAG_FIT_ROT_VIEW        = 0x1;          
const int ZOOM_FLAG_SET_COI                     = 0x2;          
const int ZOOM_FLAG_SET_CM_AUTO         = 0x4;          
const int ZOOM_FLAG_GRF_UPDATE          = 0x8;          
const int ZOOM_FLAG_VIEW_IPO            = 0x10;         
const int ZOOM_FLAG_DEFAULT                     = ZOOM_FLAG_FIT_ROT_VIEW | ZOOM_FLAG_SET_COI | ZOOM_FLAG_SET_CM_AUTO | ZOOM_FLAG_VIEW_IPO;      

const int INPUT_LINE_SELECT_DEFAULT                     = 0x0;  
const int INPUT_LINE_SELECT_NO_NUMBER           = 0x1;  
const int INPUT_LINE_SELECT_SORT                        = 0x2;  
const int INPUT_LINE_SELECT_SORT_KEEP_FIRST     = 0x4;  
const int INPUT_LINE_SELECT_SORT_KEEP_LAST      = 0x8;  

const int NUM_SIM_VIEWS                         = 4;                    
const int ROT_VEW_TYPE_UNDEF            = 0x0;                  
const int ROT_VEW_TYPE_CURRENT          = 0x1;                  
const int ROT_VEW_TYPE_INIT                     = 0x2;                  
const int ROT_VEW_TYPE_CEL_LOADED       = 0x4;                  
const int ROT_VEW_TYPE_OPENGL_OFFSET= 0x8;                      
const int ROT_VEW_TYPE_SIM_1            = 0x10;                 
const int ROT_VEW_TYPE_SIM_2            = 0x20;                 
const int ROT_VEW_TYPE_SIM_3            = 0x40;                 
const int ROT_VEW_TYPE_SIM_4            = 0x80;                 
const int ROT_VEW_TYPE_CAD_PREVIEW      = 0x100;                

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_USER_IO_3DPDF;
const int _3DPDF_EXPORT_SAVE_STATUS_UNDEF               = 0;    
const int _3DPDF_EXPORT_SAVE_STATUS_RECORD              = 1;    
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN  = 2;    
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_BEGIN_THREAD= 3;
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_DONE   = 4;    
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ABORT  = 5;    
const int _3DPDF_EXPORT_SAVE_STATUS_SAVE_ERROR  = 6;    
const int _3DPDF_EXPORT_SAVE_STATUS_KEYFRAMES_MAX= 7;   
const int _3DPDF_EXPORT_SAVE_STATUS_LAST                = 7;    

const int _3DPDF_EXPORT_MODE_FREE               =  0;           
const int _3DPDF_EXPORT_MODE_ERROR              = -1;           
const int _3DPDF_EXPORT_MODE_DLG                =  1;           
const int _3DPDF_EXPORT_MODE_API                =  2;           

const int _3DPDF_EXPORT_OK                              =  0;           
const int _3DPDF_EXPORT_ERROR                   =  1;           
const int _3DPDF_EXPORT_VALUE                   = -1;           

const int _3DHTML_EXPORT_OK                             = _3DPDF_EXPORT_OK;             
const int _3DHTML_EXPORT_ERROR                  = _3DPDF_EXPORT_ERROR;  
const int _3DHTML_EXPORT_VALUES                 = _3DPDF_EXPORT_VALUE;  

const int _3DPDF_EXPORT_UNDEF                   = 0x0;          
const int _3DPDF_EXPORT_GET_MODE                = 0x1;          
const int _3DPDF_EXPORT_ACTIVATE                = 0x2;          
const int _3DPDF_EXPORT_DEACTIVATE              = 0x4;          
const int _3DPDF_EXPORT_INIT                    = 0x8;          

const int _3DPDF_EXPORT_START                   = 0x10;         
const int _3DPDF_EXPORT_PAUSE                   = 0x20;         
const int _3DPDF_EXPORT_STOP                    = 0x40;         
const int _3DPDF_EXPORT_SAVE                    = 0x40;         
const int _3DPDF_EXPORT_EXPORT                  = 0x80;         
const int _3DPDF_EXPORT_SHOW                    = 0x100;        
const int _3DPDF_EXPORT_RESTART                 = 0x200;        

const int _3DPDF_EXPORT_GET_LIC_OPTIONS = 0x400;        
const int _3DPDF_EXPORT_GET_LICENSE_TEXT= 0x800;        

const int _3DPDF_EXPORT_SET_FILE                = 0x1000;       
const int _3DPDF_EXPORT_SET_PASSWORD    = 0x2000;       
const int _3DPDF_EXPORT_SET_LABEL               = 0x4000;       

const int _3DPDF_EXPORT_SET_KEYFRAMES_MAX= 0x10000;     
const int _3DPDF_EXPORT_GET_KEYFRAMES   = 0x20000;      

const int _3DPDF_EXPORT_RESET_LAYOUT    = 0x100000;     
const int _3DPDF_EXPORT_LOAD_LAYOUT_FILE= 0x200000;     
const int _3DPDF_EXPORT_SAVE_LAYOUT_FILE= 0x400000;     

const int _3DPDF_EXPORT_PAGE_AREA               = 0x1000000;
const int _3DPDF_EXPORT_VIEWPORT_AREA   = 0x2000000;
const int _3DPDF_EXPORT_CONTROL_AREA    = 0x4000000;
const int _3DPDF_EXPORT_LABEL_FONT_SIZE = 0x8000000;

const int _3DPDF_EXPORT_IMAGE_PATH              = 0x10000000;
const int _3DPDF_EXPORT_ADD_IMAGE               = 0x20000000;
const int _3DPDF_EXPORT_CREATOR_INFO    = 0x40000000;

// 3D WebGL Html Export
const int _3DHTML_EXPORT_CLEAR_PARAMETER_USR    = 0x10;         
const int _3DHTML_EXPORT_SET_PARAMETER_USR              = 0x20;         
const int _3DHTML_EXPORT_SET_PARAMETER_DEFAULT  = 0x40;         
const int _3DHTML_EXPORT_SET_PARAMETER_TITLE    = 0x80;         
const int _3DHTML_EXPORT_SET_PARAMETER_HEADER   = 0x100;        
const int _3DHTML_EXPORT_SET_PARAMETER_IMAGELINK= 0x200;        

const int _3DHTML_EXPORT_LOAD_TEMPLATE_FILE             = 0x1000;       

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_DEVICES;
// class ER_CAPI_ROB;
// class ER_CAPI_ROB_KIN;
const int ROBOT_TYPE_UNDEF = 1;                         
const int ROBOT_TYPE_ROBOT = 2;                         
const int ROBOT_TYPE_TOOL = 3;                          
const int ROBOT_TYPE_TRACK = 4;                         
const int ROBOT_TYPE_CONVEYOR = 5;                      
const int ROBOT_TYPE_POSITIONER = 6;            
const int ROBOT_TYPE_EXTAXIS = 7;                       
const int ROBOT_TYPE_FIXTURE = 8;                       
const int ROBOT_TYPE_ACCESSORY = 9;                     
const int ROBOT_TYPE_MISCELLANEOUS = 10;        
const int ROBOT_TYPE_WORKPIECE = 11;            
const int ROBOT_TYPE_SENSOR = 12;                       

// Reason for calling forward kinematics, access int *ER_CAPI_ROB_KIN::inq_fwd_kin_reason();
const int FWD_REASON_UNKNOWN                    = 0;    
const int FWD_REASON_ROB_GRAFIC_UPDATE  = 1;    
const int FWD_REASON_KINEMATICS                 = 2;    
const int FWD_REASON_COLLISION                  = 3;    
const int FWD_REASON_CAD_EXPORT                 = 4;    

// Return code for inverse kinematics
const int WARN_OK                       = 0;            
const int WARN_SINGULAR         = 1;            
const int WARN_UNREACH          = 2;            
const int WARN_CNFG                     = 3;            
const int WARN_NO_INVKIN        = 4;            
const int WARN_SWE_EXCEED       = 5;            

// class ER_CAPI_ROB_ATRIBUTES;
// class ER_CAPI_ROB_DYN;
//                      ER_CAPI_ROB_DYN::inq_status_output_type()

//typedef enum _STATUS_OUTPUT_TYPE {SIM_STEP=1, TARGET_POSE=2, IPO_STEP=3} STATUS_OUTPUT_TYPE;
typedef enum _STATUS_OUTPUT_TYPE {
        SIM_STEP=1,                     
        TARGET_POSE=2,          
        IPO_STEP=3                      
} STATUS_OUTPUT_TYPE;

// class ER_CAPI_MOP;

//typedef enum {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  } IPO_MODE;
typedef 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                     
} IPO_MODE;

//typedef enum {CIRC_VARIABLE, CIRC_FIX, CIRC_TANGENTIAL, CIRC_AUX, CIRC_VARIABLE2, CIRC_QUATERNION } CIRC_ORI_MODE;
typedef enum _CIRC_ORI_MODE {
        CIRC_VARIABLE,          
        CIRC_FIX,                       
        CIRC_TANGENTIAL,        
        CIRC_AUX,                       
        CIRC_VARIABLE2,         
        CIRC_QUATERNION         
} CIRC_ORI_MODE;

//typedef enum {CIRC_ORI_START_END, CIRC_ORI_START_VIA_END, CIRC_ORI_START_VIAORI_END, CIRC_ORI_TANGENTIAL, CIRC_ORI_FIX} CIRC_ORI_IPO_MODE;
typedef 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                                    
} CIRC_ORI_IPO_MODE;    

//typedef enum {LIN_VARIABLE, LIN_FIX, LIN_TANGENTIAL, LIN_AUX, LIN_QUATERNION } LIN_ORI_MODE;
typedef enum _LIN_ORI_MODE {
        LIN_VARIABLE,                           
        LIN_FIX,                                        
        LIN_TANGENTIAL,                         
        LIN_AUX,                                        
        LIN_QUATERNION                          
} LIN_ORI_MODE;                                 

// class ER_CAPI_MOP_DATA;
const int EXTAX_AXIS_UNSET      =0;             
const int EXTAX_AXIS_POS        =1;             
const int EXTAX_AXIS_SPEED      =2;             

const int EXTAX_MODE_OFF        =0x0;   
const int EXTAX_MODE_ON         =0x1;   
const int EXTAX_MODE_TAG        =0x1;   
const int EXTAX_MODE_STD        =0x2;   
const int EXTAX_MODE_USR        =0x4;   

// class ER_CAPI_MOP_PATH;
const int IPO_LEADING_POS                               = 1;            
const int IPO_LEADING_ORI                               = 0;            
const int IPO_LEADING_VAR                               = 2;            

const int PTP_TARGET_CALC_MODE_UNDEF = 0;                       
const int PTP_TARGET_CALC_MODE_SHORTEST_ANGLE = 1;      
const int PTP_TARGET_CALC_MODE_TURNS = 2;                       
const int PTP_TARGET_CALC_MODE_MATH = 3;                        
const int PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE = 4;     
const int PTP_TARGET_CALC_MODE_VAR_CONFIG = 5;          

// class ER_CAPI_MOP_PREP;
const float IPO_MIN_PREP_TIME                   = 0.001f;       

const int IPO_ERROR                                             = -1;           
const int IPO_OK                                                = 0;            
const int IPO_IN_POSITION                               = 1;            

// class ER_CAPI_MOP_EXEC;
const int IPO_EXEC_ERROR                                = -1;           
const int IPO_EXEC_OK                                   = 0;            
const int IPO_EXEC_CALL_AGAIN                   = 1;            
const int IPO_EXEC_CALL_AGAIN_NO_UPDATE = 2;            
const int IPO_EXEC_STOP                                 = 3;            

// class ER_CAPI_MOP_AUTOPATH;
// class ER_CAPI_MOP_AUTOPATH_SDK

const double AUTOPATH_KIN_EPSI = 0.5e-6;        
const int AUTOPATH_KIN_DOFS = 24;               

const int AUTOPATH_AXIS_BIT_ALL = 0x0;          
const int AUTOPATH_AXIS_BIT_1 = 0x1;            
const int AUTOPATH_AXIS_BIT_2 = 0x2;            
const int AUTOPATH_AXIS_BIT_3 = 0x4;            
const int AUTOPATH_AXIS_BIT_4 = 0x8;            
const int AUTOPATH_AXIS_BIT_5 = 0x10;           
const int AUTOPATH_AXIS_BIT_6 = 0x20;           
const int AUTOPATH_AXIS_BIT_7 = 0x40;           
const int AUTOPATH_AXIS_BIT_8 = 0x80;           
const int AUTOPATH_AXIS_BIT_9 = 0x100;  
const int AUTOPATH_AXIS_BIT_10 = 0x200; 
const int AUTOPATH_AXIS_BIT_11 = 0x400; 
const int AUTOPATH_AXIS_BIT_12 = 0x800; 
const int AUTOPATH_AXIS_BIT_13 = 0x1000;        
const int AUTOPATH_AXIS_BIT_14 = 0x2000;        
const int AUTOPATH_AXIS_BIT_15 = 0x4000;        
const int AUTOPATH_AXIS_BIT_16 = 0x8000;        
const int AUTOPATH_AXIS_BIT_17 = 0x10000;       
const int AUTOPATH_AXIS_BIT_18 = 0x20000;       
const int AUTOPATH_AXIS_BIT_19 = 0x40000;       
const int AUTOPATH_AXIS_BIT_20 = 0x80000;       
const int AUTOPATH_AXIS_BIT_21 = 0x100000;      
const int AUTOPATH_AXIS_BIT_22 = 0x200000;      
const int AUTOPATH_AXIS_BIT_23 = 0x400000;      
const int AUTOPATH_AXIS_BIT_24 = 0x800000;      
const int AUTOPATH_AXIS_BIT_DOF6 = 0x3F;                

const int AUTOPATH_OK                                   = 0;            
const int AUTOPATH_ERROR                                = 1;            
const int AUTOPATH_INVALID_LICENSE              = 2;            
const int AUTOPATH_ERROR_VALUE                  = -1;           

const int AUTOPATH_PARAMETER_DYNADJUST                  = 1;            
const int AUTOPATH_PARAMETER_ALGORITHM                  = 2;            
const int AUTOPATH_PARAMETER_NTREES                             = 3;            
const int AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS  = 4;            
const int AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR      = 5;    
const int AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE  = 6;
const int AUTOPATH_PARAMETER_THREAD_PRIORITY    = 7;            
const int AUTOPATH_PARAMETER_OUTPUT_SETTINGS    = 8;            
const int AUTOPATH_PARAMETER_THREAD_EXECUTION   = 8;            
const int AUTOPATH_PARAMETER_SEED_VALUE                 = 9;                    

const int AUTOPATH_ALGORITHM_USER_FCT                   = 1;            
const int AUTOPATH_ALGORITHM_RRT_CONNECT                = 2;            
const int AUTOPATH_ALGORITHM_RTD_BBS                    = 3;            

const int AUTOPATH_AXIS_TYPE_ROBOT                              = 1;        
const int AUTOPATH_AXIS_TYPE_TRACK                              = 2;        
const int AUTOPATH_AXIS_TYPE_POSITIONER                 = 3;        
const int AUTOPATH_AXIS_TYPE_EXTERN                             = 4;        
const int AUTOPATH_AXIS_TYPE_AUX                                = 5;        

const int AUTOPATH_DLG_PARAMETER_API_CONTROL    = 1;            
const int AUTOPATH_DLG_PARAMETER_SHOW_WINDOW    = 2;            
const int AUTOPATH_DLG_PARAMETER_DISABLE_MSG    = 3;            

const int AUTOPATH_RESULT_CHECKS                                = 1;            
const int AUTOPATH_RESULT_SECONDS                               = 2;            
const int AUTOPATH_RESULT_CPS                                   = 3;            
const int AUTOPATH_RESULT_CFREE                                 = 4;            
const int AUTOPATH_RESULT_COBSTACLE                             = 5;            
const int AUTOPATH_RESULT_CDENSITY                              = 6;            
const int AUTOPATH_RESULT_DSECONDS                              = 7;            
const int AUTOPATH_RESULT_SEED_VALUE                    = 8;            
const int AUTOPATH_RESULT_QUALITY_INDEX                 = 9;            
const int AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV = 10;           

const int AUTOPATH_CONSTRAINT_RESET                             = 0x0;          
const int AUTOPATH_CONSTRAINT_MIN                               = 0x1;          
const int AUTOPATH_CONSTRAINT_MAX                               = 0x2;          

const int AUTOPATH_CHK_CONSTRAINT_START_DEST    = 0x1;          
const int AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES  = 0x2;          

const int AUTOPATH_CHK_CONSTRAINT_UNDEF                 = 0x0;          
const int AUTOPATH_CHK_CONSTRAINT_START                 = 0x1;          
const int AUTOPATH_CHK_CONSTRAINT_DEST                  = 0x2;          
const int AUTOPATH_CHK_CONSTRAINT_COLLISION             = 0x4;          
const int AUTOPATH_CHK_CONSTRAINT_SWE                   = 0x8;          
const int AUTOPATH_CHK_CONSTRAINT_CART_SPACE    = 0x10;         
const int AUTOPATH_CHK_CONSTRAINT_TBD_20                = 0x20;         
const int AUTOPATH_CHK_CONSTRAINT_TBD_40                = 0x40;         
const int AUTOPATH_CHK_CONSTRAINT_TBD_80                = 0x80;         
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE               = 0x100;        
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_1             = 0x100;        
const int AUTOPATH_CHK_CONSTRAINT_ISCFREE_2             = 0x200;        
const int AUTOPATH_CHK_CONSTRAINT_TBD_400               = 0x400;        
const int AUTOPATH_CHK_CONSTRAINT_TBD_800               = 0x800;        

const int AUTOPATH_STATUS_MP_START                              = 0x1000;       
const int AUTOPATH_STATUS_MP_ABORT                              = 0x2000;       
const int AUTOPATH_STATUS_MP_SUCCESS                    = 0x4000;       
const int AUTOPATH_STATUS_MP_FAILURE                    = 0x8000;       
const int AUTOPATH_STATUS_MP_IDLE                               = 0x10000;      
const int AUTOPATH_STATUS_MP_RUNNING                    = 0x20000;      
const int AUTOPATH_STATUS_MP_MIN_NUM_WAYPOINTS  = 0x40000;      
const int AUTOPATH_STATUS_MP_DEL_WAYPOINTS              = 0x80000;      

const int AUTOPATH_AXIS_ROT = 0;                                                
const int AUTOPATH_AXIS_TRANS = 1;                                              

typedef struct _AutoPath_SDK_ConfigurationSpace
{
        unsigned int    size;                           
        int                             initialized;            
        int                             apHandle;                       
        int                             ThreadedExecution;      

        int                             nConfig;                        
        INT_PTR*                deviceHandle;           
        int*                    deviceAxisIdx;          
        int*                    AxisEnable;                     
        int*                    AxisPriority;           
        int*                    AxisRotTrans;           
        int*                    AxisType;                       
        double*                 ConstraintMin;          
        double*                 ConstraintMax;          
        double*                 CartConstraintMin;      
        double*                 CartConstraintMax;      
        double*                 SpeedWeight;            
        double*                 DistanceWeight;         
        UINT                    Accuracy;                       
        void                    *UsrData;                       
} AutoPath_SDK_ConfigurationSpace;

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_SIM;
const int START_CONDITION_RESET                                 = 0x1;          
const int START_CONDITION_SAVE                                  = 0x2;          
const int START_CONDITION_CURRENT_ROBOT                 = 0x4;          
const int START_CONDITION_FOR_ALL_ROBOTS                = 0x8;          
const int START_CONDITION_ROBOT_JOINTS                  = 0x10;         
const int START_CONDITION_ROBOT_REFERENCE               = 0x20;         
const int START_CONDITION_ROBOT_BASE_POSITION   = 0x40;         
const int START_CONDITION_ROBOT_TOOL_DATA               = 0x80;         
const int START_CONDITION_ROBOT_RENDER                  = 0x100;        
const int START_CONDITION_ROBOT_TOOL_RENDER             = 0x200;        
const int START_CONDITION_ROBOT_BODIES                  = 0x400;        
const int START_CONDITION_TOOL_BODIES                   = 0x800;        
const int START_CONDITION_ENVIRONMENT_BODIES    = 0x1000;       

const int START_CONDITION_WOBJ_POSITION                 = 0x10000;      
const int START_CONDITION_TAG_POSITION                  = 0x20000;      
const int START_CONDITION_PATH                                  = 0x40000;      
const int START_CONDITION_ALL_PATHES                    = 0x80000;      

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;    
const int START_CONDITION_RESET_CURRENT_ROBOT   = START_CONDITION_RESET | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL;  
const int START_CONDITION_SAVE_CURRENT_ROBOT    = START_CONDITION_SAVE | START_CONDITION_CURRENT_ROBOT | START_CONDITION_ALL;   
const int START_CONDITION_RESET_ALL_ROBOTS              = START_CONDITION_RESET | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL; 
const int START_CONDITION_SAVE_ALL_ROBOTS               = START_CONDITION_SAVE | START_CONDITION_FOR_ALL_ROBOTS | START_CONDITION_ALL;  

// class ER_CAPI_SIM_MONITORING;
//                      ER_CAPI_SIM_MONITORING::chk_run()
const int RUN_MODUS             = 1;    
const int STOP_MODUS    = 2;    
const int ABORT_MODUS   = 0;    

// class ER_CAPI_SIM_COLLISION;
const int CHK_NOM_VALUES_SWE            = 0x1;          
const int CHK_NOM_VALUES_SPEED          = 0x2;          
const int CHK_NOM_VALUES_ACCEL          = 0x4;          
const int CHK_NOM_VALUES_COLLISION      = 0x8;          
const int CHK_NOM_VALUES_CART_SPACE     = 0x10;         
const int CHK_NOM_VALUES_ALL            = 0xffff;       

const int COLL_PAIRS_MAX                        = 96;           

typedef struct _COLL_PROBE {
        int grp_type;                           
        int dev_idx;                            
        int geo_idx;                            
        char dev_name[LS_MAXSTR];       
        char geo_name[LS_MAXSTR];       
} COLL_PROBE;

typedef struct _COLL_PAIR {
        COLL_PROBE probe_A;                     
        COLL_PROBE probe_B;                     
        double eps_tol_c;                       
} COLL_PAIR;

typedef struct _COLL_DEVICE {
        int grp_type;                           
        int dev_idx;                            
        int geo_idx;                            
} COLL_DEVICE;

typedef struct _COLL_DEVICE_TUPEL {
        COLL_DEVICE device_A;           
        COLL_DEVICE device_B;           
} COLL_DEVICE_TUPEL;

// class ER_CAPI_SIM_CAMERA;

// class ER_CAPI_SIM_ERPL;
//                      ER_CAPI_SIM_ERPL::erc_onoff()
const int ERC_ONOFF_DISABLE                             = 0;    
const int ERC_ONOFF_ENABLE                              = 1;    
const int ERC_ONOFF_STATUS                              = 2;    

const int ERC_TRACK                                             = 1;    
const int ERC_DYNAMICS                                  = 2;    
const int ERC_STOP_SWE                                  = 3;    
const int ERC_STOP_SPEED                                = 4;    
const int ERC_STOP_ACCEL                                = 5;    
const int ERC_COLLISION                                 = 6;    
const int ERC_STOP_COLLISION                    = 7;    
const int ERC_STOP_UNREACH                              = 8;    
const int ERC_FLOOR                                             = 9;    
const int ERC_FLOOR_RENDER                              = 10;   
const int ERC_RENDER_BBOX                               = 11;   
const int ERC_ORTHOGRAFIC                               = 12;   
const int ERC_DISPLAY_ROBOTS                    = 13;   
const int ERC_DISPLAY_ROBOT_COORSYS             = 14;   
const int ERC_DISPLAY_TOOLS                             = 15;   
const int ERC_DISPLAY_BODIES                    = 16;   
const int ERC_DISPLAY_TAGS                              = 17;   
const int ERC_TCP_COORSYS                               = 18;   
const int ERC_IPO_COORSYS                               = 19;   
const int ERC_BASE_COORSYS                              = 20;   
const int ERC_ROBOT_COORSYS                             = 21;   
const int ERC_EXT_TCP                                   = 22;   
const int ERC_RESET_ALL_POSITIONS_JOINTS= 23;   
const int ERC_NO_DECEL                                  = 24;   
const int ERC_GRAFIC_UPDATE                             = 25;   
const int ERC_CREATE_TARGET_TAGS                = 26;   
const int ERC_STATUS_OUTPUT                             = 27;   
const int ERC_INTERPOLATION                             = 28;   
const int ERC_LEADING_POSITION                  = 29;   
const int ERC_REALTIME_SIM                              = 30;   
const int ERC_BACKFACES                                 = 31;   
const int ERC_CAMERA                                    = 32;   
const int ERC_USE_TAG_ATTRIBUTES                = 33;   
const int ERC_IPO_STEP_LOOP                             = 34;   
const int ERC_TAG_TEXT                                  = 35;   
const int ERC_TAG_LINE_CONNECT                  = 36;   
const int ERC_DISPLAY_BODYS_COORSYS             = 37;   
const int ERC_DISPLAY_ALL_COORSYS               = 38;   
const int ERC_DISPLAY_CROBOT                    = 39;   
const int ERC_DISPLAY_CTOOL                             = 40;   
const int ERC_COLLISION_CROBOT                  = 41;   
const int ERC_COLLISION_CTOOL                   = 42;   
const int ERC_COLLISION_CROBOT_REF              = 43;   
const int ERC_ENABLE_CROBOT                             = 44;   
const int ERC_WORLD_COORSYS                             = 45;   
const int ERC_COI_RENDER                                = 46;   
const int ERC_MOUSE_GRF_UPDATE                  = 47;   
const int ERC_STOP_CART_SPACE                   = 48;   
const int ERC_SHOW_CART_SPACE                   = 49;   
const int ERC_TRACKS                                    = 50;   
const int ERC_TRACKS_ATTRIBUTES                 = 51;   
const int ERC_TRACK_ATTRIBUTES                  = 52;   
const int ERC_VIEW_CHOREOGRAPHY                 = 53;   
const int ERC_3D_PDF_EXPORT_ERCL                = 54;   
const int ERC_3D_EXPORT_ERCL                    = 54;   
const int ERC_TCP_JOG_COORSYS                   = 55;   
const int ERC_DISPLAY_CTAG                              = 56;   
const int ERC_RUN_REPEAT                                = 57;   
const int ERC_COLLISION_CROBOT_ITSELF   = 58;   
const int ERC_DRAW_PICKING_RESULTS_ALL                  = 59;   
const int ERC_DRAW_PICKING_RESULTS_DEVICE               = 60;   
const int ERC_DRAW_PICKING_RESULTS_BODYCOORSYS  = 61;   
const int ERC_DRAW_PICKING_RESULTS_VERTEX               = 62;   
const int ERC_DRAW_PICKING_RESULTS_POLYGON              = 63;   
const int ERC_DRAW_PICKING_RESULTS_DISTANCE             = 64;   
const int ERC_DRAW_PICKING_RESULTS_TAG                  = 65;   
const int ERC_DRAW_PICKING_RESULTS_BODY_BBOX    = 66;   

// class ER_CAPI_SIM_TRACK;
 
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_TARGETS;
const int TAG_MOTYPE_DEF                = 0;            
const int TAG_MOTYPE_PTP                = 1;            
const int TAG_MOTYPE_LIN                = 2;            
const int TAG_MOTYPE_CIRC               = 3;            
const int TAG_MOTYPE_VIA                = 4;            
const int TAG_MOTYPE_SLEW               = 5;            

const int COORSYS_RENDER_STYLE_COORSYS_XYZ      = 0;    
const int COORSYS_RENDER_STYLE_APPROACH_Zx      = 1;    
const int COORSYS_RENDER_STYLE_APPROACH_Xy      = 2;    
const int COORSYS_RENDER_STYLE_APPROACH_Yz      = 3;    
const int COORSYS_RENDER_STYLE_POINT            = 4;    
const int COORSYS_RENDER_STYLE_INVISIBLE        = 5;    
const int COORSYS_RENDER_STYLE_DEFAULT          = COORSYS_RENDER_STYLE_COORSYS_XYZ;     

const int COORSYS_STYLE_DEFAULT                 = 0;    
const int COORSYS_STYLE_STANDARD                = 1;    
const int COORSYS_STYLE_CURRENT                 = 2;    
const int COORSYS_STYLE_CURRENT_BIG             = 3;    
const int COORSYS_STYLE_JOG                             = 4;    

const int COORSYS_Z_BUFFERING_OFF               = 0;    
const int COORSYS_Z_BUFFERING_ON                = 1;    

// class ER_CAPI_TARGETS_TAG;
// class ER_CAPI_TARGETS_PATH;
 
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_CAD;
// const for 'cad_type', units are [m] or [deg]
const int UNDEF_CAD_TYPE        = 0;    
const int CUBE_CAD_TYPE         = 1;    
const int PYRAMID_CAD_TYPE      = 2;    
const int WEDGE_CAD_TYPE        = 3;    
const int CYLINDER_CAD_TYPE = 4;        
const int CONE_CAD_TYPE         = 5;    
const int SPHERE_CAD_TYPE       = 6;    
const int VRML_CAD_TYPE         = 8;    
const int IGP_CAD_TYPE          = 9;    
const int STL_CAD_TYPE          = 11;   
const int _3DS_CAD_TYPE         = 12;   
// class ER_CAPI_CAD_IO;
//                      ER_CAPI_CAD_IO::set_body_rgba_color()
const int COLOR_USE_USER        = 0x1;  
const int COLOR_USE_FIX         = 0x2;  
const int COLOR_USE_FIX_IDX = 0x4;      

const int ER_CAD_MEM_VBO                = 1;    
const int ER_CAD_MEM_GRAHICS    = 2;    
const int ER_CAD_MEM_NATIVE_CPU = 3;    

const int ER_CAD_RENEW_UNDEF            = 0x0;  
const int ER_CAD_RENEW_GEOMETRY         = 0x1;  
const int ER_CAD_RENEW_COLLISION        = 0x2;  
const int ER_CAD_RENEW_DEL_COLLISION= 0x4;      
const int ER_CAD_RENEW_DEFAULT          = ER_CAD_RENEW_GEOMETRY | ER_CAD_RENEW_COLLISION;       

const int MERGE_MAX_NUMBER_OF_PPO_100 = 100000;         
const int MERGE_MAX_NUMBER_OF_PPO_200 = 200000;         
const int MERGE_ATTIB_UNDEF = 0x0;                                      
const int MERGE_ATTIB_CONFIRM_IF_FILE_EXIST = 0x1;      
const int MERGE_ATTIB_SAVE_BINARY_IGP = 0x2;            
const int MERGE_ATTIB_SKIP_LINES = 0x10;                        
const int MERGE_ATTIB_NO_PPO_LIMIT = 0x100;                     
const int MERGE_ATTIB_PPO_LIMIT_100 = 0x200;            
const int MERGE_ATTIB_PPO_LIMIT_200 = 0x400;            
const int MERGE_ATTIB_DEFAULT = MERGE_ATTIB_SKIP_LINES | MERGE_ATTIB_PPO_LIMIT_100;

// class ER_CAPI_CAD_CREATE;
// class ER_CAPI_CAD_IMPORT;
// class ER_CAPI_CAD_CONVERT;
const int CONVERT_CAD_DEFAULT                   = 0x0;          
const int CONVERT_CAD_MSG_VERBOSE               = 0x1;          
const int CONVERT_CAD_MSG_WARNING               = 0x2;          
const int CONVERT_CAD_MSG_SILENT                = 0x4;          
const int CONVERT_CAD_TESSELATION_RESET = 0x10;         
const int CONVERT_CAD_TESSELATION_COARSE= 0x20;         
const int CONVERT_CAD_TESSELATION_FINE  = 0x40;         
const int CONVERT_CAD_HEAL                              = 0x100;        
const int CONVERT_CAD_SEW                               = 0x200;        
const int CONVERT_CAD_USR_COLOR                 = 0x400;        
 
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ER_CAPI_SYS;

// class ER_CAPI_SYS_UTILITIES;
//                      ER_CAPI_SYS_UTILITIES::color_idx2rgb_vad()
//                      ER_CAPI_SYS_UTILITIES::color_rgb2idx_vad()
//                      ER_CAPI_USER_IO_DIALOG::dialog_color()
const int ER_INVISIBLE     = -2;                
const int ER_ALTERNATE     = -1;                
const int ER_BLACK         =  0;                
const int ER_BLUE          =  1;                
const int ER_GREEN         =  2;                
const int ER_CYAN          =  3;                
const int ER_RED           =  4;                
const int ER_MAGENTA       =  5;                
const int ER_ORANGE        =  6;                
const int ER_LGRAY         =  7;                
const int ER_GRAY          =  8;                
const int ER_LBLUE         =  9;                
const int ER_LGREEN        = 10;                
const int ER_LCYAN         = 11;                
const int ER_LRED          = 12;                
const int ER_VIOLETT       = 13;                
const int ER_YELLOW        = 14;                
const int ER_WHITE         = 15;                

// class ER_CAPI_SYS_MATHEMATICS;
const int ROT_IDENT                     = 0;            
const int ROT_X                         = 1;            
const int ROT_Y                         = 2;            
const int ROT_Z                         = 3;            
//                      ER_CAPI_SYS_MATHEMATICS::rob_kin_rot() , Rotation Index 'rot_idx' for euler angle transformation
//                      ER_CAPI_SYS_MATHEMATICS::vec_to_frame_idx()
//                      ER_CAPI_SYS_MATHEMATICS::frame_to_vec_idx()

const int ROT_XYZ               = 1; 
const int ROT_ZYX               = 2; 
const int ROT_YXZ               = 3; 
const int ROT_ZYZ               = 4; 
const int ROT_XYX               = 5; 
const int ROT_RPY               = 6; 
const int ROT_QUAT              = 7; 
const int ROT_CA                = 8; 
const int ROT_ZYpZ              = 9; 
const int ROT_Y9XZ              = 10;
const int ROT_Z9XY              = 11;
const int ROT_Z9XZ              = 12;
const int ROT_Z9YX              = 13;
const int ROT_IJK               = 14;
const int ROT_ANGLE_1   = 15;

const int ROT_IDX_EASY_ROB              = ROT_XYZ;              
const int ROT_IDX_STAUBLI_CS8   = ROT_XYZ;              
const int ROT_IDX_BOSCH                 = ROT_YXZ;              
const int ROT_IDX_KUKA                  = ROT_ZYX;              
const int ROT_IDX_REIS                  = ROT_ZYX;              
const int ROT_IDX_KOBELCO               = ROT_ZYX;              
const int ROT_IDX_STAUBLI_CS7   = ROT_ZYZ;              
const int ROT_IDX_FANUC                 = ROT_RPY;              
const int ROT_IDX_DENSO                 = ROT_RPY;              
const int ROT_IDX_ABB                   = ROT_QUAT;             
const int ROT_IDX_NC                    = ROT_CA;               
const int ROT_IDX_BM                    = ROT_ZYpZ;             
const int ROT_IDX_COMAU_C4G             = ROT_ZYpZ;             
const int ROT_IDX_MITSUBISHI    = ROT_RPY;              
const int ROT_IDX_OTC                   = ROT_RPY;              
const int ROT_IDX_UR                    = ROT_ANGLE_1;  

// class ER_CAPI_SYS_VIEW;
const int ERGL_UNDEF                            = 0x0;                  
const int ERGL_MATERIAL_AMBIENT         = 0x1;                  
const int ERGL_MATERIAL_DIFFUSE         = 0x2;                  
const int ERGL_MATERIAL_SPECULAR        = 0x4;                  
const int ERGL_MATERIAL_EMISSION        = 0x8;                  

const int ERGL_LIGHT_1_POSITION         = 0x10;                 
const int ERGL_LIGHT_2_POSITION         = 0x20;                 
const int ERGL_LIGHT_3_POSITION         = 0x40;                 
const int ERGL_LIGHT_4_POSITION         = 0x80;                 
const int ERGL_LIGHT_ALL_POSITION       = ERGL_LIGHT_1_POSITION | ERGL_LIGHT_2_POSITION | ERGL_LIGHT_3_POSITION | ERGL_LIGHT_4_POSITION;                        

const int ERGL_LIGHT_1_ENABLE           = 0x100;                
const int ERGL_LIGHT_2_ENABLE           = 0x200;                
const int ERGL_LIGHT_3_ENABLE           = 0x400;                
const int ERGL_LIGHT_4_ENABLE           = 0x800;                
const int ERGL_LIGHT_ALL_ENABLE         = ERGL_LIGHT_1_ENABLE | ERGL_LIGHT_2_ENABLE | ERGL_LIGHT_3_ENABLE | ERGL_LIGHT_4_ENABLE;                

const int ERGL_LIGHT_1_AMBIENT          = 0x1000;               
const int ERGL_LIGHT_2_AMBIENT          = 0x2000;               
const int ERGL_LIGHT_3_AMBIENT          = 0x4000;               
const int ERGL_LIGHT_4_AMBIENT          = 0x8000;               

const int ERGL_LIGHT_1_DIFFUSE          = 0x10000;              
const int ERGL_LIGHT_2_DIFFUSE          = 0x20000;              
const int ERGL_LIGHT_3_DIFFUSE          = 0x40000;              
const int ERGL_LIGHT_4_DIFFUSE          = 0x80000;              

const int ERGL_LIGHT_1_SPECULAR         = 0x100000;             
const int ERGL_LIGHT_2_SPECULAR         = 0x200000;             
const int ERGL_LIGHT_3_SPECULAR         = 0x400000;             
const int ERGL_LIGHT_4_SPECULAR         = 0x800000;             

const int ERGL_LIGHT_1_EMISSION         = 0x1000000;    
const int ERGL_LIGHT_2_EMISSION         = 0x2000000;    
const int ERGL_LIGHT_3_EMISSION         = 0x4000000;    
const int ERGL_LIGHT_4_EMISSION         = 0x8000000;    

const int ERGL_ALL_ATTRIBUTES           = 0xFFFFFFF;    

const int ERGL_MODE_UNDEF                       = 0x0;                  
const int ERGL_MODE_INQ                         = 0x1;                  
const int ERGL_MODE_RESET                       = 0x2;                  
const int ERGL_MODE_SET                         = 0x4;                  

// class ER_CAPI_SYS_PREVIEW;
// class ER_CAPI_SYS_STATUS;
const int SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF                             = 0;    
const int SYS_SYSTEM_FOLDER_DIRECTORY_LIST                              = 1;    
const int SYS_SYSTEM_FOLDER_DIRECTORY_CONIFG_FILE               = 10;   
const int SYS_SYSTEM_FOLDER_DIRECTORY_LICENSE_FILE              = 11;   
const int SYS_SYSTEM_FOLDER_DIRECTORY_MONITORING_FILE   = 12;   
const int SYS_SYSTEM_FOLDER_DIRECTORY_ENVIRONMENT_FILE  = 13;   
const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_PATHES_FILE= 14;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_FILE  = 15;   
const int SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_PREFERRED_FILE= 16; 
const int SYS_SYSTEM_FOLDER_DIRECTORY_APPLICATION_DIR   = 101;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_DIR               = 102;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_USR_DIR                   = 103;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_TMP_DIR                   = 104;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_KERNEL_IO_DIR             = 105;  
const int SYS_SYSTEM_FOLDER_DIRECTORY_EDIT_PRG                  = 201;  

const int ER_LIC_STD_BASIC              = 1;            
const int ER_LIC_STD_ERC                = 2;            
const int ER_LIC_STD_COLL               = 3;            
const int ER_LIC_STD_LIB                = 4;            
const int ER_LIC_STD_ROBMOD             = 5;            
const int ER_LIC_STD_NUMSOL             = 6;            
const int ER_LIC_API_INV                = 7;            
const int ER_LIC_API_IPO                = 8;            
const int ER_LIC_API_DYN                = 9;            
const int ER_LIC_OPT_CADTOPATH  = 10;           
const int ER_LIC_OPT_RRS                = 11;           
const int ER_LIC_OPT_NC                 = 12;           
const int ER_LIC_OPT_NC2RC              = 13;           
const int ER_LIC_API_INT                = 14;           
const int ER_LIC_API_PP                 = 15;           
const int ER_LIC_API_FWD                = 16;           
const int ER_LIC_ROB_KUKA               = 17;           
const int ER_LIC_ROB_STAUBLI    = 18;           
const int ER_LIC_OPT_RUNTIME    = 19;           
const int ER_LIC_ROB_TRICEPT    = 20;           
const int ER_LIC_ROB_ABB                = 21;           
const int ER_LIC_ROB_MOTOMAN    = 22;           
const int ER_LIC_ROB_FANUC              = 23;           
const int ER_LIC_ROB_UR                 = 24;           
const int ER_LIC_ROB_PKM_DELTA  = 25;           
const int ER_LIC_OPT_MULTI_KIN  = 26;           
const int ER_LIC_OPT_AUTOPATH   = 27;           
const int ER_LIC_OPT_MULTI_PROG = 28;           
const int ER_LIC_ROB_BM                 = 30;           
const int ER_LIC_ROB_KAWASAKI   = 31;           
const int ER_LIC_ROB_COMAU              = 32;           

const int ER_LIC_PRIORITY_UNDEF = 0x0;          
const int ER_LIC_PRIORITY_LMNGR = 0x1;          
const int ER_LIC_PRIORITY_LOCAL = 0x2;          
const int ER_LIC_PRIORITY_DEFAULT = ER_LIC_PRIORITY_LMNGR;              

const int ER_LIC_OPT_REMOTE             = 101;          
const int ER_LIC_API_UDLL               = 102;          
const int ER_LIC_OPT_MATLAB             = 103;          
const int ER_LIC_OPT_MATLAB_REMOTE= 104;        
// class ER_CAPI_SYS_UNITS;

// class ER_CAPI_SYS_USERDLL
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//   System Routines
//   API-UserDLL  -> AuxUpdate(idx)
const int USER_DLL_CALLBACK_AUXUPDATE_MAX = 12;                 
const int USER_DLL_CALLBACK_PROGLINEUPDATE_MAX = 12;    

const int AUX_UPDATE_IDX_LICENSE_ERROR          = -1;           
const int AUX_UPDATE_IDX_EXIT                           = 0;            
const int AUX_UPDATE_IDX_SIMUPDATE                      = 1;            
const int AUX_UPDATE_IDX_LOAD_CELL                      = 2;            
const int AUX_UPDATE_IDX_LOAD_ROBOT                     = 3;            
const int AUX_UPDATE_IDX_LOAD_TOOL                      = 4;            
const int AUX_UPDATE_IDX_LOAD_PROGRAM           = 5;            
const int AUX_UPDATE_IDX_LOAD_MIMIC                     = 6;            
const int AUX_UPDATE_IDX_LOAD_BODY                      = 7;            
const int AUX_UPDATE_IDX_TAGUPDATE                      = 8;            
const int AUX_UPDATE_IDX_SWE_EXCEEDED           = 9;            
const int AUX_UPDATE_IDX_SPEED_EXCEEDED         = 10;           
const int AUX_UPDATE_IDX_ACCEL_EXCEEDED         = 11;           
const int AUX_UPDATE_IDX_UNREACH                        = 12;           
const int AUX_UPDATE_IDX_COLLISION                      = 13;           
const int AUX_UPDATE_IDX_PRG_RUN                        = 14;           
const int AUX_UPDATE_IDX_PRG_STOP                       = 15;           
const int AUX_UPDATE_IDX_PRG_CONT                       = 16;           
const int AUX_UPDATE_IDX_PRG_ABORT                      = 17;           
const int AUX_UPDATE_IDX_PRG_ABORT_POST         = 10017;        
const int AUX_UPDATE_IDX_IPO_UPDATE                     = 18;           
const int AUX_UPDATE_IDX_CNTRL_UPDATE           = 19;           
const int AUX_UPDATE_IDX_SYS_UPDATE                     = 20;           
const int AUX_UPDATE_IDX_UNLOAD_CELL            = 21;           
const int AUX_UPDATE_IDX_UNLOAD_ROBOT           = 22;           
const int AUX_UPDATE_IDX_UNLOAD_TOOL            = 23;           
const int AUX_UPDATE_IDX_UNLOAD_PROGRAM         = 24;           
const int AUX_UPDATE_IDX_UNLOAD_MIMIC           = 25;           
const int AUX_UPDATE_IDX_UNLOAD_BODY            = 26;           
const int AUX_UPDATE_IDX_LOAD_PATHES            = 27;           
const int AUX_UPDATE_IDX_UNLOAD_TAG                     = 28;           
const int AUX_UPDATE_IDX_UNLOAD_PATH            = 29;           
const int AUX_UPDATE_IDX_UNLOAD_PATHES          = 30;           
const int AUX_UPDATE_IDX_OPENGL                         = 31;           
const int AUX_UPDATE_IDX_OPENGL_POST            = 10031;        
const int AUX_UPDATE_IDX_SELECTION_NOHIT        = 32;           
const int AUX_UPDATE_IDX_SELECTION_HIT          = 33;           
//const int AUX_UPDATE_IDX_GET_NEXT_PRG_STEP= 34;       ///< tbd, read next cmd from program file
//const int AUX_UPDATE_IDX_GET_NEXT_MOTION      = 35;           ///< tbd, read next motion step
const int AUX_UPDATE_IDX_SET_NEXT_TARGET        = 36;           
//const int AUX_UPDATE_IDX_GET_NEXT_STEP                = 37;   ///< tbd, execute motion
const int AUX_UPDATE_IDX_NEED_MORE_DATA         = 38;           
const int AUX_UPDATE_IDX_TARGET_REACHED         = 39;           
const int AUX_UPDATE_IDX_IPO_ERROR                      = 40;           
const int AUX_UPDATE_IDX_SAVE_CELL              = 41;           
const int AUX_UPDATE_IDX_SAVE_ROBOT             = 42;           
const int AUX_UPDATE_IDX_SAVE_TOOL              = 43;           
const int AUX_UPDATE_IDX_SAVE_PROGRAM   = 44;           
const int AUX_UPDATE_IDX_SAVE_MIMIC             = 45;           
const int AUX_UPDATE_IDX_SAVE_BODY              = 46;           
const int AUX_UPDATE_IDX_SAVE_CPATH             = 47;           
const int AUX_UPDATE_IDX_SAVE_PATHES    = 48;           
const int AUX_UPDATE_IDX_SET_FOCUS              = 49;           
const int AUX_UPDATE_IDX_AUTOPATH               = 50;           
const int AUX_UPDATE_IDX_S3DM_EVENT             = 51;           
const int AUX_UPDATE_IDX_UDLL_DLG_IDX   = 52;           
const int AUX_UPDATE_IDX_CART_SPACE_EXCEEDED= 53;       
const int AUX_UPDATE_IDX_LOAD_GEO_ERROR = 54;           
const int AUX_UPDATE_IDX_SCC                    = 55;           
const int AUX_UPDATE_IDX_LOAD_ROBOT_ASM = 56;           
const int AUX_UPDATE_IDX_SAVE_ROBOT_ASM = 57;           
const int AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED= 58;      
const int AUX_UPDATE_IDX_JOGGING = 59;                          

const int AUX_UPDATE_SUB_IDX_JOG_NO_ACTION      = 0x0;  
const int AUX_UPDATE_SUB_IDX_JOG_JOINT          = 0x1;  
const int AUX_UPDATE_SUB_IDX_JOG_TCP_BASE       = 0x2;  
const int AUX_UPDATE_SUB_IDX_JOG_TCP_TOOL       = 0x4;  
const int AUX_UPDATE_SUB_IDX_JOG_TCP_WORLD      = 0x8;  
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;     

const int DLL_STATUS_INVALID                    = 0;            
const int DLL_STATUS_OPEN                               = 1;            
const int DLL_STATUS_CLOSE                              = 2;            
const int DLL_STATUS_STRT_AUTO                  = 3;            

// class ER_CAPI_SYS_APIDLL
const int APIDLL_CNTRL_UNDEF                    = 0x0;          
const int APIDLL_CNTRL_INITIALIZE               = 0x1;          
const int APIDLL_CNTRL_TERMINATE                = 0x2;          
const int APIDLL_CNTRL_SIM_START                = 0x4;          
const int APIDLL_CNTRL_SIM_STEP                 = 0x8;          
const int APIDLL_CNTRL_SIM_STOP                 = 0x10;         

#endif