Method class for collision free path planning. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_MOP_AUTOPATH:

Static Public Member Functions
static ER_DllExport char *	AutoPathVer (void)
	AutoPath Version. More...

static ER_DllExport void *	inq_AutoPathDlg_Hwnd (void)
	Handle form AutoPath Dialog . More...

static ER_DllExport int	AutoPath_SetCallback_CheckConstraints (BOOL(*ptr_CheckConstraints)(int))
	Defines a callback function to check constraints during AutoPath calculation Parameter `action` in Callback_API_CheckConstraints(int action) is a bitwise inclusive OR operator (\|) of AUTOPATH_CHK_CONSTRAINT_UNDEF, AUTOPATH_CHK_CONSTRAINT_START_DEST, AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES, AUTOPATH_CHK_CONSTRAINT_COLLISION, AUTOPATH_CHK_CONSTRAINT_SWE, AUTOPATH_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_CHK_CONSTRAINT_ISCFREE_1, AUTOPATH_CHK_CONSTRAINT_ISCFREE_2 Define AutoPath_SetCallback_CheckConstraints() to verify constraints during AutoPath calculation Remarks Unsetting this callback function will use the internal constraint checking. More...

static ER_DllExport int	SetDlgParameter (int ap_dlg_option, int ap_dlg_value)
	Set Autopath dialog parameter Parameter `ap_dlg_option` is one of AUTOPATH_DLG_PARAMETER_API_CONTROL,. More...

static ER_DllExport int	GetDlgParameter (int ap_dlg_option)
	Get Autopath dialog parameter Parameter `ap_dlg_option` is one of AUTOPATH_DLG_PARAMETER_API_CONTROL,. More...

static ER_DllExport int	AutoPathEnd (void)
	AutoPath Termination Destroys Instance ... to be defined, not implemented yet, instance is always active. More...

static ER_DllExport int	SetPoseStart (int nConfig, float *pose_start)
	Set specified robot joint location as start pose Remarks This pose must be collision free, based on current collision settings. More...

static ER_DllExport int	SetPoseEnd (int nConfig, float *pose_end)
	Set specified robot joint location as end pose Remarks This pose must be collision free, based on current collision settings. More...

static ER_DllExport float *	SetStartPose (void)
	Set current robot joint location as start pose Remarks This pose must be collision free, based on current collision settings. More...

static ER_DllExport float *	SetEndPose (void)
	Set current robot joint location as end pose Remarks This pose must be collision free, based on current collision settings. More...

static ER_DllExport int	FindPath (void)
	Start calculating a collision free path between start- and end pose Remarks A valid start and end pose must be set in advance, see SetStartPose() and SetEndPose() More...

static ER_DllExport float *	GetConfigurationPose (void)
	Get current configuration pose Remarks Access the current configuration pose before checking the constraints. More...

static ER_DllExport float *	GetStartPose (void)
	Get current robot joint location start pose Remarks This pose must be set before, use SetStartPose() More...

static ER_DllExport float *	GetEndPose (void)
	Get current robot joint location end pose Remarks This pose must be set before, use SetEndPose() More...

static ER_DllExport float *	GetAxisConstraintsMin (void)
	Get axis constraints min. values Remarks Axis constraints can be set before, using SetAxisConstraints() More...

static ER_DllExport float *	GetAxisConstraintsMax (void)
	Get axis constraints max. values Remarks Axis constraints can be set before, using SetAxisConstraints() More...

static ER_DllExport int	AbortPlanning (void)
	Abort path planning. More...

static ER_DllExport int	GetPlanningStatus (void)
	Get path planning status. More...

static ER_DllExport int	GetNumberOfWayPoints (void)
	Get number of calculated way points See GetWayPointDof(), GetWayPointDof() More...

static ER_DllExport int	GetWayPointDof (void)
	Get dof or number of values for each way point Remarks `dof` coincides normally with the number of robot joints See GetNumberOfWayPoints(), GetWayPointDof() More...

static ER_DllExport int	GetWayPointConfiguration (int idx)
	Get calculatated configuration idx in way point See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPoint() More...

static ER_DllExport float *	GetWayPoint (int idx)
	Get calculatated way point See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPointConfiguration() More...

static ER_DllExport int	ClearAllWayPoints (void)
	Clears all calculated way points See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPoint(), GetWayPointConfiguration() More...

static ER_DllExport UINT *	Accuracy (void)
	AutoPath accuracy Valid accuracy values are in [1..100] Remarks* Disable AUTOPATH_PARAMETER_DYNADJUST so that accuracy has an effect. More...

static ER_DllExport int	SetAxisConstraints (int axisBit=0x3FF, int setting=0, float qConstraintMin=0, float qConstraintMax=0)
	Set axis constraints Parameter `setting` is a bitwise inclusive OR operator (\|) of AUTOPATH_CONSTRAINT_RESET, AUTOPATH_CONSTRAINT_MIN, AUTOPATH_CONSTRAINT_MAX Remarks An Error occured if `qConstraintMin` or `qConstraintMax` exceed the nominal travel ranges Set `axisBit=0` and setting=AUTOPATH_CONSTRAINT_RESET to reset constraints to min. and max. travel ranges `axisBit=0x1` will set the constraints for the 1st joint `axisBit=0x2` will set the constraints for the 2nd joint `axisBit=0x4` will set the constraints for the 3rd joint `axisBit=0x8` will set the constraints for the 4th joint `axisBit=0x10` will set the constraints for the 5th joint `axisBit=0x20` will set the constraints for the 6th joint and so on ... More...

static ER_DllExport int	SetAxisPriority (int axisBit, int priority)
	Set axis priority Parameter `priority` is in [1..99]. More...

static ER_DllExport int	SetAxisEnable (int axisBit, int enable)
	Set axis enable Parameter `enable` is 1 for enable or 0 for disable. More...

static ER_DllExport int	SetParameter (int ap_option, int ap_value)
	Set Autopath calculation parameter Parameter `ap_option` is one of AUTOPATH_PARAMETER_DYNADJUST, AUTOPATH_PARAMETER_ALGORITHM, AUTOPATH_PARAMETER_NTREES, AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS, AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR, AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE, AUTOPATH_PARAMETER_THREAD_PRIORITY, AUTOPATH_PARAMETER_OUTPUT_SETTINGS. More...

static ER_DllExport int	GetParameter (int ap_option)
	Get Autopath calculation parameter Parameter `ap_option` is one of AUTOPATH_PARAMETER_DYNADJUST, AUTOPATH_PARAMETER_ALGORITHM, AUTOPATH_PARAMETER_NTREES, AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS, AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR, AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE, AUTOPATH_PARAMETER_THREAD_PRIORITY, AUTOPATH_PARAMETER_OUTPUT_SETTINGS. More...

static ER_DllExport int	GetResults (int ap_result)
	Get Autopath Result Parameter `ap_result` is one of AUTOPATH_RESULT_CHECKS, AUTOPATH_RESULT_SECONDS, AUTOPATH_RESULT_CPS, AUTOPATH_RESULT_CFREE, AUTOPATH_RESULT_COBSTACLE, AUTOPATH_RESULT_CDENSITY, AUTOPATH_RESULT_DSECONDS. More...

Static Public Member Functions inherited from ER_CAPI_MOP
static ER_DllExport void **	inq_ipo_jnt_usr_ptr (void)
	Access user pointer for joint interpolation in er_ipo.dll This allows the user to allocate individual memory. EASY-ROB administrates this pointer, related to the current device See example given for ER_CAPI_ROB_KIN::inq_kin_usr_ptr() More...

static ER_DllExport void **	inq_ipo_cp_usr_ptr (void)
	Access user pointer for linear interpolation in er_ipo.dll This allows the user to allocate individual memory. EASY-ROB administrates this pointer, related to the current device See example given for ER_CAPI_ROB_KIN::inq_kin_usr_ptr() More...

static ER_DllExport void **	inq_ipo_circ_usr_ptr (void)
	Access user pointer for circular interpolation in er_ipo.dll This allows the user to allocate individual memory. EASY-ROB administrates this pointer, related to the current device See example given for ER_CAPI_ROB_KIN::inq_kin_usr_ptr() More...

Static Public Member Functions inherited from ER_CAPI_DEVICES
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...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_MOP
static ER_CAPI_MOP_DATA	er_capi_mop_data
	Method class for start-, target data, motion time, etc. More...

static ER_CAPI_MOP_PATH	er_capi_mop_path
	Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc. More...

static ER_CAPI_MOP_PREP	er_capi_mop_prep
	Method class for trajectory planning (preparation) More...

static ER_CAPI_MOP_EXEC	er_capi_mop_exec
	Method class for trajectory execution. More...

static ER_CAPI_MOP_AUTOPATH	er_capi_mop_autopath
	Method class for collision free motion planning. More...

static ER_CAPI_MOP_AUTOPATH_SDK	er_capi_mop_autopath_sdk
	Method class for collision free motion planning. More...

Static Public Attributes inherited from ER_CAPI_DEVICES
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 for collision free path planning.

Member Function Documentation

◆ AbortPlanning()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::AbortPlanning ( void )

static

Abort path planning.

Return values

0	- OK
1	- Error, no calculation running

◆ Accuracy()

static ER_DllExport UINT* ER_CAPI_MOP_AUTOPATH::Accuracy ( void )

static

AutoPath accuracy
Valid *accuracy values are in [1..100] Remarks
Disable AUTOPATH_PARAMETER_DYNADJUST so that accuracy has an effect.

// Example:
        ...
        UINT *accuracy = er_mop_autopath.Accuracy();
        _info_line_msg(0,"  Accuracy() %s",accuracy?"Ok":"Error");
        if (accuracy)
        {
                 *accuracy = 49;
                _info_line_msg(0,"accuracy= %u",*accuracy);
        }
        ...

Return values

pointer	to accuracy value
NULL	- Error

◆ AutoPath_SetCallback_CheckConstraints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::AutoPath_SetCallback_CheckConstraints ( BOOL(*)(int) ptr_CheckConstraints )

static

Defines a callback function to check constraints during AutoPath calculation
Parameter action in Callback_API_CheckConstraints(int action) is a bitwise inclusive OR operator (|) of
AUTOPATH_CHK_CONSTRAINT_UNDEF, AUTOPATH_CHK_CONSTRAINT_START_DEST, AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES, AUTOPATH_CHK_CONSTRAINT_COLLISION, AUTOPATH_CHK_CONSTRAINT_SWE, AUTOPATH_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_CHK_CONSTRAINT_ISCFREE_1, AUTOPATH_CHK_CONSTRAINT_ISCFREE_2
Define AutoPath_SetCallback_CheckConstraints() to verify constraints during AutoPath calculation
Remarks
Unsetting this callback function will use the internal constraint checking.

// Example:
...
// Declaration of a callback functions for progress messages
static BOOL Callback_API_CheckConstraints(int action)
// Return
//      TRUE    - constraints violated 
//      FALSE   - constraints fulfilled 
{
        BOOL do_chk=FALSE;
        if (action == AUTOPATH_CHK_CONSTRAINT_UNDEF)
        {
                er_user_io_dialog._info_line_msg(0,"UserDLL -> Callback_API_CheckConstraints() %s","UNDEF");
                do_chk=FALSE;
        }
        else if (action & AUTOPATH_CHK_CONSTRAINT_ISCFREE_2)
        {
                do_chk=TRUE;
        }
        else if (action & AUTOPATH_CHK_CONSTRAINT_ISCFREE_1)
        {
                do_chk=TRUE;
        }
        else if (action & AUTOPATH_CHK_CONSTRAINT_START_DEST)
        {
                char s[MAXSTR];
                sprintf(s,"action = %d = 0x%X",action,action);
                er_user_io_dialog._info_line_msg(0,"UserDLL -> Callback_API_CheckConstraints() = %s  %s",s,"START_DEST" );
                do_chk=TRUE;
        }
        if (do_chk)
        {
                if (action & AUTOPATH_CHK_CONSTRAINT_UPDT_DEVICES)
                        er_devices.data_update_all_devices();
                BOOL chk=FALSE;
                if (!chk && (action & AUTOPATH_CHK_CONSTRAINT_CART_SPACE))
                {
                        chk=FALSE;
                }
                if (!chk && (action & AUTOPATH_CHK_CONSTRAINT_SWE))
                        chk=er_sim_monitoring.chk_limits(AUX_UPDATE_IDX_SWE_EXCEEDED);
                if (!chk && (action & AUTOPATH_CHK_CONSTRAINT_COLLISION))
                        chk=er_sim_monitoring.chk_limits(AUX_UPDATE_IDX_COLLISION);
                return chk ? TRUE : FALSE;
        }
        return TRUE;
}
...
// Set callback function pointer
er_mop_autopath.AutoPath_SetCallback_CheckConstraints(Callback_API_CheckConstraints);
...
// Reset callback function pointer
er_mop_autopath.AutoPath_SetCallback_CheckConstraints(NULL);
...

Parameters

[in] ptr_CheckConstraints (int) callback function pointer

Return values

0	- Ok
1	- Error

◆ AutoPathEnd()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::AutoPathEnd ( void )

static

AutoPath Termination
Destroys Instance ... to be defined, not implemented yet, instance is always active.

Return values

0	- OK
1	- Error

◆ AutoPathVer()

static ER_DllExport char* ER_CAPI_MOP_AUTOPATH::AutoPathVer ( void )

static

AutoPath Version.

Return values

version AutoPath version number

◆ ClearAllWayPoints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::ClearAllWayPoints ( void )

static

Clears all calculated way points
See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPoint(), GetWayPointConfiguration()

Return values

1	- Error, no way points to clear
0	- Ok

◆ FindPath()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::FindPath ( void )

static

Start calculating a collision free path between start- and end pose
Remarks
A valid start and end pose must be set in advance,
see SetStartPose() and SetEndPose()

Return values

0	- OK
1	- Error

◆ GetAxisConstraintsMax()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetAxisConstraintsMax ( void )

static

Get axis constraints max. values
Remarks
Axis constraints can be set before, using SetAxisConstraints()

// Example:
...
float *q;
q = er_mop_autopath.GetAxisConstraintsMax();
if (q) _info_line_msg_q(0,"GetAxisConstraintsMax()",q); else _info_line_msg(0,"GetAxisConstraintsMax() not set or invalid");
...

Return values

pointer	to end pose
NULL	- Error, invalid axis constraint or not set

◆ GetAxisConstraintsMin()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetAxisConstraintsMin ( void )

static

Get axis constraints min. values
Remarks
Axis constraints can be set before, using SetAxisConstraints()

// Example:
...
float *q;
q = er_mop_autopath.GetAxisConstraintsMin();
if (q) _info_line_msg_q(0,"GetAxisConstraintsMin()",q); else _info_line_msg(0,"GetAxisConstraintsMin() not set or invalid");
...

Return values

pointer	to end pose
NULL	- Error, invalid axis constraint or not set

◆ GetConfigurationPose()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetConfigurationPose ( void )

static

Get current configuration pose
Remarks
Access the current configuration pose before checking the constraints.

Return values

pointer	to current configuration pose
NULL	- Error, pose is not valid or not set

◆ GetDlgParameter()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetDlgParameter ( int ap_dlg_option )

static

Get Autopath dialog parameter
Parameter ap_dlg_option is one of AUTOPATH_DLG_PARAMETER_API_CONTROL,.

AUTOPATH_DLG_PARAMETER_SHOW_WINDOW,

AUTOPATH_DLG_PARAMETER_DISABLE_MSG

Parameters

[in] ap_dlg_option autopath dialog parameter

Return values

-1	- Error
ap_dlg_value	- depending on paramter `ap_dlg_option`

◆ GetEndPose()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetEndPose ( void )

static

Get current robot joint location end pose
Remarks
This pose must be set before, use SetEndPose()

// Example:
...
float *q;
q = er_mop_autopath.GetEndPose();
if (q) _info_line_msg_q(0,"GetEndPose()",q); else _info_line_msg(0,"GetEndPose() not set or invalid");
...

Return values

pointer	to end pose
NULL	- Error, pose is not valid or not set

◆ GetNumberOfWayPoints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetNumberOfWayPoints ( void )

static

Get number of calculated way points
See GetWayPointDof(), GetWayPointDof()

Return values

-1	- Error
n	- Number of Way Points

◆ GetParameter()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetParameter ( int ap_option )

static

Get Autopath calculation parameter
Parameter ap_option is one of AUTOPATH_PARAMETER_DYNADJUST, AUTOPATH_PARAMETER_ALGORITHM, AUTOPATH_PARAMETER_NTREES, AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS, AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR, AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE, AUTOPATH_PARAMETER_THREAD_PRIORITY, AUTOPATH_PARAMETER_OUTPUT_SETTINGS.

Parameters

[in] ap_option autopath parameter of required value

Return values

-1	- Error
ap_value	- depending on parameter `ap_option`

◆ GetPlanningStatus()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetPlanningStatus ( void )

static

Get path planning status.

Return values

-1	- Error
0	- OK, no calculation running
1	- Calculating
2	- Calculating done with success
3	- Calculating aborted

◆ GetResults()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetResults ( int ap_result )

static

Get Autopath Result
Parameter ap_result is one of AUTOPATH_RESULT_CHECKS, AUTOPATH_RESULT_SECONDS, AUTOPATH_RESULT_CPS, AUTOPATH_RESULT_CFREE, AUTOPATH_RESULT_COBSTACLE, AUTOPATH_RESULT_CDENSITY, AUTOPATH_RESULT_DSECONDS.

Parameters

[in] ap_result - requested result value

Return values

-1	- Error
requested	value - depending on parameter `ap_result`

◆ GetStartPose()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetStartPose ( void )

static

Get current robot joint location start pose
Remarks
This pose must be set before, use SetStartPose()

// Example:
...
float *q;
q = er_mop_autopath.GetStartPose();
if (q) _info_line_msg_q(0,"GetStartPose()",q); else _info_line_msg(0,"GetStartPose() not set or invalid");
...

Return values

pointer	to start pose
NULL	- Error, pose is not valid or not set

◆ GetWayPoint()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::GetWayPoint ( int idx )

static

Get calculatated way point
See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPointConfiguration()

Parameters

[in] idx way point index, zero based

Return values

NULL	- Error
pointer	of float vector with dof data

◆ GetWayPointConfiguration()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetWayPointConfiguration ( int idx )

static

Get calculatated configuration idx in way point
See GetNumberOfWayPoints(), GetWayPointDof(), GetWayPoint()

Parameters

[in] idx way point index, zero based

Return values

0	- Error
>0	- valid configuration idx

◆ GetWayPointDof()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::GetWayPointDof ( void )

static

Get dof or number of values for each way point
Remarks
dof coincides normally with the number of robot joints
See GetNumberOfWayPoints(), GetWayPointDof()

Return values

-1	- Error
number	of values, dof

◆ inq_AutoPathDlg_Hwnd()

static ER_DllExport void* ER_CAPI_MOP_AUTOPATH::inq_AutoPathDlg_Hwnd ( void )

static

Handle form AutoPath Dialog
.

Return values

handle	- OK
NULL	- Error

◆ SetAxisConstraints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetAxisConstraints	(	int	axisBit = `0x3FF`,
		int	setting = `0`,
		float	qConstraintMin = `0`,
		float	qConstraintMax = `0`
	)

static

Set axis constraints
Parameter setting is a bitwise inclusive OR operator (|) of
AUTOPATH_CONSTRAINT_RESET, AUTOPATH_CONSTRAINT_MIN, AUTOPATH_CONSTRAINT_MAX Remarks
An Error occured if qConstraintMin or qConstraintMax exceed the nominal travel ranges
Set axisBit=0 and setting=AUTOPATH_CONSTRAINT_RESET to reset constraints to min. and max. travel ranges
axisBit=0x1 will set the constraints for the 1st joint
axisBit=0x2 will set the constraints for the 2nd joint
axisBit=0x4 will set the constraints for the 3rd joint
axisBit=0x8 will set the constraints for the 4th joint
axisBit=0x10 will set the constraints for the 5th joint
axisBit=0x20 will set the constraints for the 6th joint and so on ...

// Example:
        ...
        float qCMin[] = { 0.05f, 0.05f, 0.05f,-180.0f*fRAD,  0.0f*fRAD,-180.0f*fRAD};
        float qCMax[] = { 0.80f, 0.80f, 0.20f, 180.0f*fRAD, 90.0f*fRAD, 180.0f*fRAD};
        int setting = AUTOPATH_CONSTRAINT_MIN | AUTOPATH_CONSTRAINT_MAX;
        axisBit = 1;
        for (int i=0;i<(int)er_rob_kin.inq_num_active_jnts();i++)
        {
                res=er_mop_autopath.SetAxisConstraints(axisBit,setting, qCMin[i],qCMax[i]);     // Axis 1..6
                _info_line_msg(0,"SetAxisConstraints(0x%X) %s",axisBit,res?"Error":"Ok");
                axisBit = axisBit << 1;
        }
        ...

Parameters

[in]	axisBit	axis bit field
[in]	setting	0x0-Reset to nom. values, 0x1-Set Min value, 0x2-Set Max value
[in]	qConstraintMin	min. constraint axis value, depending on axisBit and setting
[in]	qConstraintMax	max. constraint axis value, depending on axisBit and setting

Return values

1	- Error, axis constraints are set to min. and max. travel range values
0	- Ok

◆ SetAxisEnable()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetAxisEnable	(	int	axisBit,
		int	enable
	)

static

Set axis enable
Parameter enable is 1 for enable or 0 for disable.

// Example:
        ...
        int axisBit = 0x3F;             // axis bit field 0011 1111
        int enable = 1;
        ret = er_mop_autopath.SetAxisEnable(axisBit,enable);
        _info_line_msg(0,"  SetAxisEnable() %s",ret==0?"Ok":"Error");
        ...

Parameters

[in]	axisBit	axis bit field
[in]	enable	1-enable, 0-disable

Return values

1	- Error
0	- Ok

◆ SetAxisPriority()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetAxisPriority	(	int	axisBit,
		int	priority
	)

static

Set axis priority
Parameter priority is in [1..99].

// Example:
        ...
        int axisBit = 0x3F;             // axis bit field 0011 1111
        int priority = 49;              // [1..99]
        ret = er_mop_autopath.SetAxisPriority(axisBit,priority);
        _info_line_msg(0,"  SetAxisPriority() %s",ret==0?"Ok":"Error");
        ...

Parameters

[in]	axisBit	axis bit field
[in]	priority	percentage value

Return values

1	- Error
0	- Ok

◆ SetDlgParameter()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetDlgParameter	(	int	ap_dlg_option,
		int	ap_dlg_value
	)

static

Set Autopath dialog parameter
Parameter ap_dlg_option is one of AUTOPATH_DLG_PARAMETER_API_CONTROL,.

AUTOPATH_DLG_PARAMETER_SHOW_WINDOW,

AUTOPATH_DLG_PARAMETER_DISABLE_MSG Remarks
To control AutoPath via API, enable API_CONTROL and enable DISABLE_MSG

// Example:
...
er_mop_autopath.SetDlgParameter(AUTOPATH_DLG_PARAMETER_API_CONTROL,TRUE);
er_mop_autopath.SetDlgParameter(AUTOPATH_DLG_PARAMETER_DISABLE_MSG,TRUE);
// Hide or show AutoPath Dialog
er_mop_autopath.SetDlgParameter(AUTOPATH_DLG_PARAMETER_SHOW_WINDOW,SW_HIDE);    // SW_SHOWNORMAL
...

Parameters

[in]	ap_dlg_option	autopath dialog parameter
[in]	ap_dlg_value	depending on paramter `ap_dlg_option`

Return values

1	- Error
0	- Ok

◆ SetEndPose()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::SetEndPose ( void )

static

Set current robot joint location as end pose
Remarks
This pose must be collision free, based on current collision settings.

Return values

pointer	to end pose
NULL	- Error, pose is not valid, due to collision or travel ranges are exceeded

◆ SetParameter()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetParameter	(	int	ap_option,
		int	ap_value
	)

static

Set Autopath calculation parameter
Parameter ap_option is one of AUTOPATH_PARAMETER_DYNADJUST, AUTOPATH_PARAMETER_ALGORITHM, AUTOPATH_PARAMETER_NTREES, AUTOPATH_PARAMETER_MIN_NUM_WAYPOINTS, AUTOPATH_PARAMETER_FORCE_DETERM_BEHAVIOR, AUTOPATH_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE, AUTOPATH_PARAMETER_THREAD_PRIORITY, AUTOPATH_PARAMETER_OUTPUT_SETTINGS.

Parameters

[in]	ap_option	autopath parameter index
[in]	ap_value	depending on paramter `ap_option`

Return values

1	- Error
0	- Ok

◆ SetPoseEnd()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetPoseEnd	(	int	nConfig,
		float *	pose_end
	)

static

Set specified robot joint location as end pose
Remarks
This pose must be collision free, based on current collision settings.

Parameters

[in]	nConfig	n-dimensional configuration space
[in]	pose_end	pointer to end pose

Return values

0	- OK
1	- Error, pose is not valid, due to collision or travel ranges are exceeded

◆ SetPoseStart()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH::SetPoseStart	(	int	nConfig,
		float *	pose_start
	)

static

Set specified robot joint location as start pose
Remarks
This pose must be collision free, based on current collision settings.

Parameters

[in]	nConfig	n-dimensional configuration space
[in]	pose_start	pointer to start pose

Return values

0	- OK
1	- Error, pose is not valid, due to collision or travel ranges are exceeded

◆ SetStartPose()

static ER_DllExport float* ER_CAPI_MOP_AUTOPATH::SetStartPose ( void )

static

Set current robot joint location as start pose
Remarks
This pose must be collision free, based on current collision settings.

Return values

pointer	to start pose
NULL	- Error, pose is not valid, due to collision or travel ranges are exceeded

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

ER_CAPI.H

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AbortPlanning()

◆ Accuracy()

◆ AutoPath_SetCallback_CheckConstraints()

◆ AutoPathEnd()

◆ AutoPathVer()

◆ ClearAllWayPoints()

◆ FindPath()

◆ GetAxisConstraintsMax()

◆ GetAxisConstraintsMin()

◆ GetConfigurationPose()

◆ GetDlgParameter()

◆ GetEndPose()

◆ GetNumberOfWayPoints()

◆ GetParameter()

◆ GetPlanningStatus()

◆ GetResults()

◆ GetStartPose()

◆ GetWayPoint()

◆ GetWayPointConfiguration()

◆ GetWayPointDof()

◆ inq_AutoPathDlg_Hwnd()

◆ SetAxisConstraints()

◆ SetAxisEnable()

◆ SetAxisPriority()

◆ SetDlgParameter()

◆ SetEndPose()

◆ SetParameter()

◆ SetPoseEnd()

◆ SetPoseStart()

◆ SetStartPose()