Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_DEVICES:

Static Public Member Functions
static ER_DllExport int	data_update_all_devices (void)
	Forces mathematical update for all devices, use before calling chk_limits(::AUX_UPDATE_IDX_COLLISION) Calculates for alle devices the forward kinematics, all joints coorsys and the devices location w.r.t world. More...

static ER_DllExport int	inq_Get_n_devices (void)
	Get number of current loaded robots in a workcell. More...

static ER_DllExport int	inq_Get_c_device_idx (void)
	Get current device idx [1..n_devices]. More...

static ER_DllExport ER_UID	inq_Get_c_device_uid (void)
	Get current device unique id. More...

static ER_DllExport int	inq_Set_device_idx (int device_idx)
	Sets current device idx [1..n_devices]. More...

static ER_DllExport int	inq_Set_device_uid (ER_UID device_uid)
	Sets current device unique id. More...

static ER_DllExport int	inq_Set_device_name (char *device_name)
	Sets current device by name of the robot Remarks A device name must be unique. More...

static ER_DllExport int	inq_Get_device_idx_by_uid (ER_UID uid)
	Gets device idx by device unique id if the uid is not valid, -1 is returned. More...

static ER_DllExport ER_UID	inq_Get_device_uid_by_idx (int idx)
	Get device unique uid by device idx if idx is not valid, -1 is returned. More...

static ER_DllExport char *	inq_Get_device_name_by_uid (ER_UID uid)
	Get device name by device unique id if uid is not valid, NULL is returned. More...

static ER_DllExport char *	inq_Get_device_name_by_idx (int idx)
	Get device name by device idx [1..n_devices] if idx is not valid, NULL is returned. More...

static ER_DllExport int	inq_Get_device_idx_by_name (char *device_name)
	Get device idx by device name if 'device name' is not valid, -1 is returned. More...

static ER_DllExport ER_UID	inq_Get_device_uid_by_name (char *device_name)
	Get device unique uid by device name if 'device name' is not valid, -1 is returned. More...

static ER_DllExport int *	inq_device_ref_sys_type (void)
	Reference type of the current device The reference type (attach location) can be one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB. More...

static ER_DllExport char *	inq_device_ref_sys_type_name (void)
	Reference type name of the current device The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB See also inq_device_ref_sys_type() More...

static ER_DllExport int *	inq_device_ref_sys_grp (void)
	Reference group of current device The reference group depends on the attach location. e.g.: If the cDevice is attacehd to another robot, the returned reference group will ROBOT_GRP If the cDevice is not attached, the returned reference group will be UNDEF_GRP The reference group is one of UNDEF_GRP=-1, ROBOT_GRP=0, TOOL_GRP=1, BODY_GRP=2. More...

static ER_DllExport ER_UID *	inq_device_ref_sys_grp_uid (void)
	Unique ID of reference device/robot The Unique ID depends on the attach location. More...

static ER_DllExport char *	inq_device_ref_sys_name (void)
	Reference name of the current device The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB See also inq_device_ref_sys_type(), inq_device_ref_sys_type_name() Remarks In case of the reference type is REF_CAD, the name of the reference body is returned. More...

static ER_DllExport int *	inq_device_ref_sys_jnt_idx (void)
	Reference joint idx of the cDevice, if the reference type is REF_JNT The index of reference joint is returned For active joints a positive value > 0 is returned For passive joints a negative value < 0 is returned 0 is returned if the cDevice is attached to the robot base or if the reference type is not REF_JNT. More...

static ER_DllExport int	Device_Create (char *robot_name)
	Creates a new device with one rotational axis in z direction. More...

static ER_DllExport int	Device_ReAttach_by_name (int new_reference_type, char *new_reference_device_name, int new_reference_jnt_idx, bool keep_world_position)
	Attaches the current device to another device Attaches the current device to another device, given by `new_reference_device_name` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter `keep_world_position` determine if the current device will keep its current world position or will "jump" to the defined attach location See also Device_ReAttach_by_idx(), Device_ReAttach_by_uid() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() More...

static ER_DllExport int	Device_ReAttach_by_idx (int new_reference_type, int new_reference_device_idx, int new_reference_jnt_idx, bool keep_world_position)
	Attaches the current device to another device Attaches the current device to another device, given by `new_reference_device_idx` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter `keep_world_position` determine if the current device will keep its current world position or will "jump" to the defined attach location See also Device_ReAttach_by_name(), Device_ReAttach_by_uid() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() The device idx is within [1..n_devices]. More...

static ER_DllExport int	Device_ReAttach_by_uid (int new_reference_type, ER_UID new_reference_device_uid, int new_reference_jnt_idx, bool keep_world_position)
	Attaches the current device to another device Attaches the current device to another device, given by `new_reference_device_uid` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter `keep_world_position` determine if the current device will keep its current world position or will "jump" to the defined attach location See also Device_ReAttach_by_name(), Device_ReAttach_by_idx() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() More...

static ER_DllExport int	Tool_Device_by_name (char *tool_device_name)
	Sets tool data to the device specified by name The current device takes over the current tool data of the device `tool_device_name` See also Tool_Device_by_idx(), Tool_Device_by_uid() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More...

static ER_DllExport int	Tool_Device_by_idx (int tool_device_idx)
	Sets tool data to the device specified by idx The current device takes over the current tool data of the device `tool_device_idx` See also Tool_Device_by_name(), Tool_Device_by_uid() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More...

static ER_DllExport int	Tool_Device_by_uid (ER_UID tool_device_uid)
	Sets tool data to the device specified by unique id The current device takes over the current tool data of the device `tool_device_uid` See also Tool_Device_by_name(), Tool_Device_by_idx() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More...

static ER_DllExport int *	inq_device_link_ref_sys_type (void)
	Linkage reference type of the current device The linkage reference type can be one of the following values. REF_NO_REF if cDevice is not synchrnized REF_JNT if cDevice is linked by joint to another device See inq_device_link_ref_sys_grp_uid(), inq_device_link_ref_sys_jnt_link_idx(), Device_Link_by_name() More...

static ER_DllExport int *	inq_device_sync_ref_sys_type (void)
	Obsolete, use inq_device_link_ref_sys_type() More...

static ER_DllExport char *	inq_device_link_ref_sys_type_name (void)
	Linkage reference type name of the current device The linkage reference type name depends on the inq_device_link_ref_sys_type() and can be one of the following values. REF_NO_REF if cDevice is not synchrnized REF_JNT if cDevice is linked by joint to another device See inq_device_link_ref_sys_type() More...

static ER_DllExport char *	inq_device_sync_ref_sys_type_name (void)
	Obsolete, use inq_device_link_ref_sys_type_name() More...

static ER_DllExport ER_UID *	inq_device_link_ref_sys_grp_uid (void)
	Linkage Unique ID of the reference device current device The Unique ID depends on the linkage reference type, which is REF_JNT if linked. More...

static ER_DllExport ER_UID *	inq_device_sync_ref_sys_grp_uid (void)
	Obsolete, use inq_device_link_ref_sys_grp_uid() More...

static ER_DllExport int *	inq_device_link_ref_sys_jnt_link_idx (void)
	Linkage joint index vector, if the linkage reference type is REF_JNT and valid unique ID exist The joint index vector contains for each active Jnt a linkage index This linkage index is 0 if linked with an active joint of a sync. ref. device < 0 if linked with a passive joint of a sync. ref. device = 0 if no linkage See inq_device_link_ref_sys_type(), inq_device_link_ref_sys_grp_uid. More...

static ER_DllExport int *	inq_device_sync_ref_sys_jnt_sync_idx (void)
	Obsolete, use inq_device_link_ref_sys_jnt_link_idx() More...

static ER_DllExport int	Device_Link_by_name (int new_reference_type, char new_reference_device_name=NULL, int new_reference_jnt_link_idx=NULL)
	Link current device to another device by name `new_reference_type` one of REF_NO_REF=0 or REF_JNT=9 `new_reference_device_name` name of device to synchonize with `new_reference_jnt_sync_idx` reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_idx(), Device_Link_by_uid() More...

static ER_DllExport int	Device_Sync_by_name (int new_reference_type, char new_reference_device_name=NULL, int new_reference_jnt_link_idx=NULL)
	Obsolete, use Device_Link_by_name() More...

static ER_DllExport int	Device_Link_by_idx (int new_reference_type, int new_reference_device_idx=0, int *new_reference_jnt_link_idx=NULL)
	Link current device to another device by idx `new_reference_type` one of REF_NO_REF=0 or REF_JNT=9 `new_reference_device_idx` idx of device to synchonize with, [1..n_devices] `new_reference_jnt_sync_idx` reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_uid() More...

static ER_DllExport int	Device_Sync_by_idx (int new_reference_type, int new_reference_device_idx=0, int *new_reference_jnt_link_idx=NULL)
	Obsolete, use Device_Link_by_idx() More...

static ER_DllExport int	Device_Link_by_uid (int new_reference_type, ER_UID new_reference_device_uid=0, int *new_reference_jnt_link_idx=NULL)
	Link current device to another device by uid `new_reference_type` one of REF_NO_REF=0 or REF_JNT=9 `new_reference_device_uid` uid of device to synchonize with `new_reference_jnt_sync_idx` reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_idx() More...

static ER_DllExport int	Device_Sync_by_uid (int new_reference_type, ER_UID new_reference_device_uid=0, int *new_reference_jnt_link_idx=NULL)
	Obsolete, use Device_Link_by_uid() More...

Static Public Attributes
static ER_CAPI_ROB	er_capi_rob
	Method class kinematics and transformations. More...

static ER_CAPI_MOP	er_capi_mop
	Method class for trajectory planning and -execution. More...

Static Public Attributes inherited from ER_CAPI
static ER_CAPI_USER_IO	er_capi_user_io
	Method class for interaction with EASY-ROB. More...

static ER_CAPI_DEVICES	er_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More...

static ER_CAPI_SIM	er_capi_sim
	Method class for simulation settings. More...

static ER_CAPI_TARGETS	er_capi_targets
	Method class for paths and tags. More...

static ER_CAPI_CAD	er_capi_cad
	Method class for for 3D CAD Data import and -export, changing attributes and positions. More...

static ER_CAPI_SYS	er_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution.

Member Function Documentation

◆ data_update_all_devices()

static ER_DllExport int ER_CAPI_DEVICES::data_update_all_devices ( void )

static

Forces mathematical update for all devices, use before calling chk_limits(::AUX_UPDATE_IDX_COLLISION)
Calculates for alle devices the forward kinematics, all joints coorsys and the devices location w.r.t world.

Return values

0 - Ok

◆ Device_Create()

static ER_DllExport int ER_CAPI_DEVICES::Device_Create ( char * robot_name )

static

Creates a new device with one rotational axis in z direction.

Parameters

[in] robot_name Name of created device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Device_Link_by_idx()

static ER_DllExport int ER_CAPI_DEVICES::Device_Link_by_idx	(	int	new_reference_type,
		int	new_reference_device_idx = `0`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Link current device to another device by idx
new_reference_type one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_idx idx of device to synchonize with, [1..n_devices]
new_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_uid()

Parameters

[in]	new_reference_type
[in]	new_reference_device_idx
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ Device_Link_by_name()

static ER_DllExport int ER_CAPI_DEVICES::Device_Link_by_name	(	int	new_reference_type,
		char *	new_reference_device_name = `NULL`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Link current device to another device by name
new_reference_type one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_name name of device to synchonize with
new_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT
See Device_Link_by_idx(), Device_Link_by_uid()

Parameters

[in]	new_reference_type
[in]	new_reference_device_name
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ Device_Link_by_uid()

static ER_DllExport int ER_CAPI_DEVICES::Device_Link_by_uid	(	int	new_reference_type,
		ER_UID	new_reference_device_uid = `0`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Link current device to another device by uid
new_reference_type one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_uid uid of device to synchonize with
new_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_idx()

Parameters

[in]	new_reference_type
[in]	new_reference_device_uid
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ Device_ReAttach_by_idx()

static ER_DllExport int ER_CAPI_DEVICES::Device_ReAttach_by_idx	(	int	new_reference_type,
		int	new_reference_device_idx,
		int	new_reference_jnt_idx,
		bool	keep_world_position
	)

static

Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_idx
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_name(), Device_ReAttach_by_uid()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()
The device idx is within [1..n_devices].

// Example:
int ret;
int robot_dev_idx       = 1;
int tool_dev_idx        = 2;
// Task: "Connect the Tool to the Robot Tip"
// Here we know that the Robot has Device Idx 1 and the Tool has Device Idx 2
er_devices.inq_Set_device_idx(tool_dev_idx); // make tool current
ret = er_devices.Device_ReAttach_by_idx(REF_TIP,robot_dev_idx,0,false); // attach the tool to the robots tip
er_devices.inq_Set_device_idx(robot_dev_idx); // make robot current
er_sys_view.grf_update_export(); // update
...

Parameters

[in]	new_reference_type	Attach location
[in]	new_reference_device_idx	Idx of reference device idx [1..n_devices]
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Device_ReAttach_by_name()

static ER_DllExport int ER_CAPI_DEVICES::Device_ReAttach_by_name	(	int	new_reference_type,
		char *	new_reference_device_name,
		int	new_reference_jnt_idx,
		bool	keep_world_position
	)

static

Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_name
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_idx(), Device_ReAttach_by_uid()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()

Parameters

[in]	new_reference_type	Attach location
[in]	new_reference_device_name	Name of reference device
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Device_ReAttach_by_uid()

static ER_DllExport int ER_CAPI_DEVICES::Device_ReAttach_by_uid	(	int	new_reference_type,
		ER_UID	new_reference_device_uid,
		int	new_reference_jnt_idx,
		bool	keep_world_position
	)

static

Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_uid
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_name(), Device_ReAttach_by_idx()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()

Parameters

[in]	new_reference_type	Attach location
[in]	new_reference_device_uid	Unique device id of reference device idx
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Device_Sync_by_idx()

static ER_DllExport int ER_CAPI_DEVICES::Device_Sync_by_idx	(	int	new_reference_type,
		int	new_reference_device_idx = `0`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Obsolete, use Device_Link_by_idx()

Parameters

[in]	new_reference_type
[in]	new_reference_device_idx
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ Device_Sync_by_name()

static ER_DllExport int ER_CAPI_DEVICES::Device_Sync_by_name	(	int	new_reference_type,
		char *	new_reference_device_name = `NULL`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Obsolete, use Device_Link_by_name()

Parameters

[in]	new_reference_type
[in]	new_reference_device_name
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ Device_Sync_by_uid()

static ER_DllExport int ER_CAPI_DEVICES::Device_Sync_by_uid	(	int	new_reference_type,
		ER_UID	new_reference_device_uid = `0`,
		int *	new_reference_jnt_link_idx = `NULL`
	)

static

Obsolete, use Device_Link_by_uid()

Parameters

[in]	new_reference_type
[in]	new_reference_device_uid
[in]	new_reference_jnt_link_idx	pointer to vector KIN_DOFS

Return values

0	- OK
1	- Error

◆ inq_device_link_ref_sys_grp_uid()

static ER_DllExport ER_UID* ER_CAPI_DEVICES::inq_device_link_ref_sys_grp_uid ( void )

static

Linkage Unique ID of the reference device current device
The Unique ID depends on the linkage reference type, which is REF_JNT if linked.

Return values

>	0 Unique ID of sync reference device
0	cDevice is not linked, has no reference

◆ inq_device_link_ref_sys_jnt_link_idx()

static ER_DllExport int* ER_CAPI_DEVICES::inq_device_link_ref_sys_jnt_link_idx ( void )

static

Linkage joint index vector, if the linkage reference type is REF_JNT and valid unique ID exist
The joint index vector contains for each active Jnt a linkage index
This linkage index is

0 if linked with an active joint of a sync. ref. device

Get current device unique id.

Return values

current device unique id

◆ inq_Get_device_idx_by_name()

static ER_DllExport int ER_CAPI_DEVICES::inq_Get_device_idx_by_name ( char * device_name )

static

Get device idx by device name
if 'device name' is not valid, -1 is returned.

Parameters

[in] device_name

Return values

device	idx
-1	- Error

◆ inq_Get_device_idx_by_uid()

static ER_DllExport int ER_CAPI_DEVICES::inq_Get_device_idx_by_uid ( ER_UID uid )

static

Gets device idx by device unique id
if the uid is not valid, -1 is returned.

Parameters

[in] uid unique id

Return values

device	idx
-1	- Error

◆ inq_Get_device_name_by_idx()

static ER_DllExport char* ER_CAPI_DEVICES::inq_Get_device_name_by_idx ( int idx )

static

Get device name by device idx [1..n_devices]
if idx is not valid, NULL is returned.

Parameters

[in] idx device idx

Return values

pointer	to char for 'device name'
NULL	- Error

◆ inq_Get_device_name_by_uid()

static ER_DllExport char* ER_CAPI_DEVICES::inq_Get_device_name_by_uid ( ER_UID uid )

static

Get device name by device unique id
if uid is not valid, NULL is returned.

Parameters

[in] uid unique id

Return values

pointer	to char for device name
NULL	- Error

◆ inq_Get_device_uid_by_idx()

static ER_DllExport ER_UID ER_CAPI_DEVICES::inq_Get_device_uid_by_idx ( int idx )

static

Get device unique uid by device idx
if idx is not valid, -1 is returned.

Parameters

[in] idx device idx

Return values

unique	uid
-1	- Error

◆ inq_Get_device_uid_by_name()

static ER_DllExport ER_UID ER_CAPI_DEVICES::inq_Get_device_uid_by_name ( char * device_name )

static

Get device unique uid by device name
if 'device name' is not valid, -1 is returned.

Parameters

[in] device_name

Return values

unique	uid
-1	- Error

◆ inq_Get_n_devices()

static ER_DllExport int ER_CAPI_DEVICES::inq_Get_n_devices ( void )

static

Get number of current loaded robots in a workcell.

Return values

Number of current loaded robots in a workcell

◆ inq_Set_device_idx()

static ER_DllExport int ER_CAPI_DEVICES::inq_Set_device_idx ( int device_idx )

static

Sets current device idx [1..n_devices].

Parameters

[in] device_idx

Return values

0	- OK
1	- Error

◆ inq_Set_device_name()

static ER_DllExport int ER_CAPI_DEVICES::inq_Set_device_name ( char * device_name )

static

Sets current device by name of the robot
Remarks
A device name must be unique.

Parameters

[in] device_name

Return values

0	- OK
1	- Error

◆ inq_Set_device_uid()

static ER_DllExport int ER_CAPI_DEVICES::inq_Set_device_uid ( ER_UID device_uid )

static

Sets current device unique id.

Parameters

[in] device_uid

Return values

0	- OK
1	- Error

◆ Tool_Device_by_idx()

static ER_DllExport int ER_CAPI_DEVICES::Tool_Device_by_idx ( int tool_device_idx )

static

Sets tool data to the device specified by idx
The current device takes over the current tool data of the device tool_device_idx
See also Tool_Device_by_name(), Tool_Device_by_uid()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.

Parameters

[in] tool_device_idx Idx of tool device [1..n_devices]

Return values

0	- ER_OK
1	- ER_ERROR `tool_device_idx` name is not valid

◆ Tool_Device_by_name()

static ER_DllExport int ER_CAPI_DEVICES::Tool_Device_by_name ( char * tool_device_name )

static

Sets tool data to the device specified by name
The current device takes over the current tool data of the device tool_device_name
See also Tool_Device_by_idx(), Tool_Device_by_uid()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.

Parameters

[in] tool_device_name Name of tool device

Return values

0	- ER_OK
1	- ER_ERROR `tool_device_name` is not valid

◆ Tool_Device_by_uid()

static ER_DllExport int ER_CAPI_DEVICES::Tool_Device_by_uid ( ER_UID tool_device_uid )

static

Sets tool data to the device specified by unique id
The current device takes over the current tool data of the device tool_device_uid
See also Tool_Device_by_name(), Tool_Device_by_idx()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.

Parameters

[in] tool_device_uid Unique device id

Return values

0	- ER_OK
1	- ER_ERROR `tool_device_uid` is not valid

Member Data Documentation

◆ er_capi_mop

ER_CAPI_MOP ER_CAPI_DEVICES::er_capi_mop

static

Method class for trajectory planning and -execution.

◆ er_capi_rob

ER_CAPI_ROB ER_CAPI_DEVICES::er_capi_rob

static

Method class kinematics and transformations.

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

ER_CAPI.H

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ data_update_all_devices()

◆ Device_Create()

◆ Device_Link_by_idx()

◆ Device_Link_by_name()

◆ Device_Link_by_uid()

◆ Device_ReAttach_by_idx()

◆ Device_ReAttach_by_name()

◆ Device_ReAttach_by_uid()

◆ Device_Sync_by_idx()

◆ Device_Sync_by_name()

◆ Device_Sync_by_uid()

◆ inq_device_link_ref_sys_grp_uid()

◆ inq_device_link_ref_sys_jnt_link_idx()

◆ inq_device_link_ref_sys_type()

◆ inq_device_link_ref_sys_type_name()

◆ inq_device_ref_sys_grp()

◆ inq_device_ref_sys_grp_uid()

◆ inq_device_ref_sys_jnt_idx()

◆ inq_device_ref_sys_name()

◆ inq_device_ref_sys_type()

◆ inq_device_ref_sys_type_name()

◆ inq_device_sync_ref_sys_grp_uid()

◆ inq_device_sync_ref_sys_jnt_sync_idx()

◆ inq_device_sync_ref_sys_type()

◆ inq_device_sync_ref_sys_type_name()

◆ inq_Get_c_device_idx()

◆ inq_Get_c_device_uid()

◆ inq_Get_device_idx_by_name()

◆ inq_Get_device_idx_by_uid()

◆ inq_Get_device_name_by_idx()

◆ inq_Get_device_name_by_uid()

◆ inq_Get_device_uid_by_idx()

◆ inq_Get_device_uid_by_name()

◆ inq_Get_n_devices()

◆ inq_Set_device_idx()

◆ inq_Set_device_name()

◆ inq_Set_device_uid()

◆ Tool_Device_by_idx()

◆ Tool_Device_by_name()

◆ Tool_Device_by_uid()

Member Data Documentation

◆ er_capi_mop

◆ er_capi_rob