Method for collision free path planning. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_MOP_AUTOPATH_SDK:

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

static ER_DllExport int	AutoPathSetMem (AutoPath_SDK_ConfigurationSpace *apcs)
	allocate memory for AutoPath_SDK_ConfigurationSpace data depending on nConfig see example AutoPathInit() More...

static ER_DllExport int	AutoPathInit (AutoPath_SDK_ConfigurationSpace *apcs)
	Initialize AutoPath Call this functions to setup the autopath configuration space Parameter `apcs` defines the complete configuration for all used devices, such as number of configurations up to AUTOPATH_KIN_DOFS, device handle for each configuration, device axis index, etc. call AutoPathSetMem() first. More...

static ER_DllExport int	AutoPathFreeMem (AutoPath_SDK_ConfigurationSpace *apcs)
	free memory of AutoPath_SDK_ConfigurationSpace data see example AutoPathInit() More...

static ER_DllExport int	AutoPathTerminate (AutoPath_SDK_ConfigurationSpace *apcs)
	Terminate AutoPath call AutoPathFreeMem() first, see example AutoPathInit() More...

static ER_DllExport int	AutoPath_SetCallback_CheckConstraints (BOOL(ptr_CheckConstraints)(int, void ))
	Defines a callback function to check constraints during AutoPath calculation The callback function is called with two parameters Parameter `action` in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (\|) of AUTOPATH_CHK_CONSTRAINT_UNDEF, AUTOPATH_CHK_CONSTRAINT_START, AUTOPATH_CHK_CONSTRAINT_DEST, AUTOPATH_CHK_CONSTRAINT_COLLISION, AUTOPATH_CHK_CONSTRAINT_SWE, AUTOPATH_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_CHK_CONSTRAINT_ISCFREE Parameter `vapcs` in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_SDK_ConfigurationSpace see example AutoPathInit() More...

static ER_DllExport int	SetPoseStart (double *pose_start)
	Set start configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...

static ER_DllExport int	SetPoseEnd (double *pose_end)
	Set end configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...

static ER_DllExport int	FindPath (void)
	Start motion planner, find a collision free path between start and end pose In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_STATUS_MP_SUCCESS. More...

static ER_DllExport double *	GetConfigurationPose (void)
	current configuration pose during FindPath Process return pointer, size nConfig More...

static ER_DllExport double *	GetStartPose (void)
	Get Start Pose return pointer, size nConfig. More...

static ER_DllExport double *	GetEndPose (void)
	Get End Pose return pointer, size nConfig. More...

static ER_DllExport double *	GetAxisConstraintsMin (void)
	Get minimum axis constraints return pointer, size nConfig. More...

static ER_DllExport double *	GetAxisConstraintsMax (void)
	Get maximum axis constraints return pointer, size nConfig. More...

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

static ER_DllExport int	GetPlanningStatus (void)
	Get path planning status The planning status is one of AUTOPATH_STATUS_MP_IDLE AUTOPATH_STATUS_MP_RUNNING. More...

static ER_DllExport int	GetNumberOfWayPoints (void)
	Get number of calculated way points, including start and end pose call this method after FindPath() succeeded. More...

static ER_DllExport int	GetWayPointDof (void)
	Get dof of calculated way points. More...

static ER_DllExport double *	GetWayPoint (int idx)
	Get way point. More...

static ER_DllExport int	ClearAllWayPoints (void)
	Clear all way points. More...

static ER_DllExport int	SetAccuracy (UINT accuracy)
	Set accuracy. More...

static ER_DllExport int	SetAxisConstraints (int axisBit=AUTOPATH_AXIS_BIT_DOF6, int setting=0, double qConstraintMin=0, double qConstraintMax=0)
	Set axis constraints Parameter `setting` is a bitwise inclusive OR operator (\|) of AUTOPATH_CONSTRAINT_RESET, AUTOPATH_CONSTRAINT_MIN, AUTOPATH_CONSTRAINT_MAX. More...

static ER_DllExport int	SetAxisPriority (int axisBit, int priority)
	Set axis priority. More...

static ER_DllExport int	SetAxisEnable (int axisBit, int enable)
	Set axis enable. More...

static ER_DllExport int	SetParameter (int ap_option, int ap_value)
	Set parameter Paramter `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_THREAD_EXECUTION AUTOPATH_PARAMETER_SEED_VALUE. More...

static ER_DllExport int	GetParameter (int ap_option)
	Get parameter Paramter `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_THREAD_EXECUTION AUTOPATH_PARAMETER_SEED_VALUE. More...

static ER_DllExport int	GetResults (int ap_result)
	Get results Paramter `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 AUTOPATH_RESULT_SEED_VALUE AUTOPATH_RESULT_QUALITY_INDEX AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV. 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 for collision free path planning.

Member Function Documentation

◆ AbortPlanning()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AbortPlanning ( void )

static

Abort path planning
use GetPlanningStatus()

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ AutoPath_SetCallback_CheckConstraints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AutoPath_SetCallback_CheckConstraints ( BOOL(*)(int, void *) ptr_CheckConstraints )

static

Defines a callback function to check constraints during AutoPath calculation
The callback function is called with two parameters
Parameter action in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (|) of
AUTOPATH_CHK_CONSTRAINT_UNDEF, AUTOPATH_CHK_CONSTRAINT_START, AUTOPATH_CHK_CONSTRAINT_DEST, AUTOPATH_CHK_CONSTRAINT_COLLISION, AUTOPATH_CHK_CONSTRAINT_SWE, AUTOPATH_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_CHK_CONSTRAINT_ISCFREE
Parameter vapcs in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_SDK_ConfigurationSpace
see example AutoPathInit()

// Example:
// Callback function
static BOOL Callback_API_CheckConstraints_apcs(int action, void*vapcs)
// Return
//      TRUE    - constraints violated
//      FALSE   - constraints fulfilled
{
        AutoPath_SDK_ConfigurationSpace *apcs = (AutoPath_SDK_ConfigurationSpace *)vapcs;
        BOOL do_chk=FALSE;
        switch (action) {
        case AUTOPATH_CHK_CONSTRAINT_START:     // SetPoseStart()
        case AUTOPATH_CHK_CONSTRAINT_DEST:      // SetPoseEnd()
        case AUTOPATH_CHK_CONSTRAINT_COLLISION:
        case AUTOPATH_CHK_CONSTRAINT_SWE:
        case AUTOPATH_CHK_CONSTRAINT_CART_SPACE:
        case AUTOPATH_CHK_CONSTRAINT_ISCFREE:
                do_chk=TRUE;
                break;
        case AUTOPATH_STATUS_MP_SUCCESS:
                // target reached
                break;
        }
        ...
        if (do_chk)
        {
                double* currentConfiguration = er_mop_autopath_sdk.GetConfigurationPose();
                result = Check Constraints_in_HostApp(...)
        }
        ...
        return result;  // true - violated, false - ok
}
...
AutoPath_SDK_ConfigurationSpace *papcs = new AutoPath_SDK_ConfigurationSpace;
...
er_mop_autopath_sdk.AutoPathInit(papcs);
...
// Set callback function pointer
er_mop_autopath_sdk.AutoPath_SetCallback_CheckConstraints(Callback_API_CheckConstraints_apcs);
...
// do autopath calculation ....
erk_autoPath.FindPath();
// get way points
...
// Reset callback function pointer
er_mop_autopath_sdk.AutoPath_SetCallback_CheckConstraints(NULL);
...

Parameters

[in] ptr_CheckConstraints (int) callback function pointer

Return values

0	- Ok
1	- Error

◆ AutoPathFreeMem()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AutoPathFreeMem ( AutoPath_SDK_ConfigurationSpace * apcs )

static

free memory of AutoPath_SDK_ConfigurationSpace data
see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_SDK_ConfigurationSpace

Return values

0	- AUTOPATH_OK - OK
1	- AUTOPATH_ERROR - Error, AutoPath initialization failed

◆ AutoPathInit()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AutoPathInit ( AutoPath_SDK_ConfigurationSpace * apcs )

static

Initialize AutoPath
Call this functions to setup the autopath configuration space
Parameter apcs defines the complete configuration for all used devices, such as
number of configurations up to AUTOPATH_KIN_DOFS, device handle for each configuration, device axis index, etc.
call AutoPathSetMem() first.

// Example:
int nConfig = 6;
AutoPath_SDK_ConfigurationSpace *papcs = new AutoPath_SDK_ConfigurationSpace;
papcs->size = sizeof(AutoPath_SDK_ConfigurationSpace);
papcs->initialized              = 0;
papcs->nConfig          = nConfig;
papcs->deviceHandle             = NULL;
papcs->deviceAxisIdx    = NULL;
papcs->AxisEnable               = NULL;
papcs->AxisPriority             = NULL;
papcs->AxisRotTrans             = NULL;
papcs->AxisType                 = NULL;
papcs->ConstraintMin    = NULL;
papcs->ConstraintMax    = NULL;
papcs->SpeedWeight              = NULL;
papcs->DistanceWeight   = NULL;
papcs->UsrData                  = NULL;
...
er_mop_autopath_sdk.AutoPathSetMem(papcs);      // allocate memory depending on nConfig
...
// set AutoPath_SDK_ConfigurationSpace data for each configuration
for (int i=0;i<papcs->nConfig;++i)
{
        papcs->deviceHandle[i]  = er_hnd[i];
        papcs->deviceAxisIdx[i] = i;
        papcs->AxisEnable[i]    = 1;
        papcs->AxisPriority[i]  = 50;
        papcs->AxisRotTrans[i]  = ... ? AUTOPATH_AXIS_TRANS : AUTOPATH_AXIS_ROT;
        papcs->AxisType[i]              = AUTOPATH_AXIS_TYPE_ROBOT;     // Robot
        papcs->ConstraintMin[i] = ...;
        papcs->ConstraintMax[i] = ...;
        papcs->SpeedWeight[i]   = 1;
        papcs->DistanceWeight[i]= 1;
}
er_mop_autopath_sdk.AutoPathInit(papcs);        // Initialize AutoPath
...
// Set callback function pointer
er_mop_autopath_sdk.AutoPath_SetCallback_CheckConstraints(Callback_API_CheckConstraints_apcs);
...
// define additional settings
...
// define start and destination
// -> SetPoseStart(), SetPoseEnd()
// do autopath calculation
// -> FindPath();
// get results
// -> GetNumberOfWayPoints(), GetWayPoint(), GetResults()
...
// Verify results, move along all waypoints
...
// Clear all WayPoints
// -> ClearAllWayPoints()
...
// Reset callback function pointer
er_mop_autopath_sdk.AutoPath_SetCallback_CheckConstraints(NULL);
...
// Terminate AutoPath
er_mop_autopath_sdk.AutoPathFreeMem(papcs); // free memory of AutoPath_SDK_ConfigurationSpace data
delete papcs;
papcs= NULL;
er_mop_autopath_sdk.AutoPathTerminate(papcs); // Terminate AutoPath
...

Parameters

[in] apcs autopath configuration space AutoPath_SDK_ConfigurationSpace

Return values

0	- AUTOPATH_OK - OK
1	- AUTOPATH_ERROR - Error, AutoPath initialization failed
2	- AUTOPATH_INVALID_LICENSE - Error, AutoPath not licensed

◆ AutoPathSetMem()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AutoPathSetMem ( AutoPath_SDK_ConfigurationSpace * apcs )

static

allocate memory for AutoPath_SDK_ConfigurationSpace data depending on nConfig
see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_SDK_ConfigurationSpace

Return values

0	- AUTOPATH_OK - OK
1	- AUTOPATH_ERROR - Error, AutoPath initialization failed

◆ AutoPathTerminate()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::AutoPathTerminate ( AutoPath_SDK_ConfigurationSpace * apcs )

static

Terminate AutoPath
call AutoPathFreeMem() first, see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_SDK_ConfigurationSpace

Return values

0	- AUTOPATH_OK - OK
1	- AUTOPATH_ERROR - Error, AutoPath initialization failed

◆ AutoPathVer()

static ER_DllExport char* ER_CAPI_MOP_AUTOPATH_SDK::AutoPathVer ( void )

static

AutoPath Version.

Return values

version AutoPath version number

◆ ClearAllWayPoints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::ClearAllWayPoints ( void )

static

Clear all way points.

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ FindPath()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::FindPath ( void )

static

Start motion planner, find a collision free path between start and end pose
In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_STATUS_MP_SUCCESS.

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ GetAxisConstraintsMax()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetAxisConstraintsMax ( void )

static

Get maximum axis constraints return pointer, size nConfig.

◆ GetAxisConstraintsMin()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetAxisConstraintsMin ( void )

static

Get minimum axis constraints return pointer, size nConfig.

◆ GetConfigurationPose()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetConfigurationPose ( void )

static

current configuration pose during FindPath Process return pointer, size nConfig

◆ GetEndPose()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetEndPose ( void )

static

Get End Pose return pointer, size nConfig.

◆ GetNumberOfWayPoints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::GetNumberOfWayPoints ( void )

static

Get number of calculated way points, including start and end pose
call this method after FindPath() succeeded.

Return values

number of way points

◆ GetParameter()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::GetParameter ( int ap_option )

static

Get parameter Paramter 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_THREAD_EXECUTION
AUTOPATH_PARAMETER_SEED_VALUE.

Parameters

[in] ap_option - autopath option

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ GetPlanningStatus()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::GetPlanningStatus ( void )

static

Get path planning status
The planning status is one of
AUTOPATH_STATUS_MP_IDLE
AUTOPATH_STATUS_MP_RUNNING.

Return values

planning status

◆ GetResults()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::GetResults ( int ap_result )

static

Get results Paramter 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
AUTOPATH_RESULT_SEED_VALUE
AUTOPATH_RESULT_QUALITY_INDEX
AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV.

// Example:
...
char *ap_result_s[] = {"?","Checks","Seconds","CpS","CFree","CObstacle","CDensity","dSeconds","?","?","?"};
for (int i=AUTOPATH_RESULT_CHECKS;i<=AUTOPATH_RESULT_DSECONDS;i++)
{
        int ap_result=i;
        int ap_value = er_mop_autopath_sdk.GetResults(ap_result);
        _info_line_msg(0,"  GetResults(%s) = %d",ap_result_s[ap_result],ap_value);
}
int seed_value = er_mop_autopath_sdk.GetResults(AUTOPATH_RESULT_SEED_VALUE);    // Random starting seed value to influence behavior
int quality_index = er_mop_autopath_sdk.GetResults(AUTOPATH_RESULT_QUALITY_INDEX);      // Quality Index based on calculated way points
int quality_index_std_dev = er_mop_autopath_sdk.GetResults(AUTOPATH_RESULT_QUALITY_INDEX_STD_DEV);      // Quality Index Standard Deviation, based on calculated way points
int thread_exec = er_mop_autopath_sdk.GetParameter(AUTOPATH_PARAMETER_THREAD_EXECUTION);
_info_line_msg(0,"  Seed_Value = %d  Thread_Exec %s",seed_value,thread_exec?"Yes":"No");
...

Parameters

[in] ap_result - autopath result

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ GetStartPose()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetStartPose ( void )

static

Get Start Pose return pointer, size nConfig.

◆ GetWayPoint()

static ER_DllExport double* ER_CAPI_MOP_AUTOPATH_SDK::GetWayPoint ( int idx )

static

Get way point.

Parameters

[in] idx [0.. number of way points-1]

Return values

pointer

◆ GetWayPointDof()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::GetWayPointDof ( void )

static

Get dof of calculated way points.

Return values

dof	of way points

◆ SetAccuracy()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::SetAccuracy ( UINT accuracy )

static

Set accuracy.

Parameters

[in] accuracy [1..100]

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetAxisConstraints()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::SetAxisConstraints	(	int	axisBit = `AUTOPATH_AXIS_BIT_DOF6`,
		int	setting = `0`,
		double	qConstraintMin = `0`,
		double	qConstraintMax = `0`
	)

static

Set axis constraints
Parameter setting is a bitwise inclusive OR operator (|) of AUTOPATH_CONSTRAINT_RESET, AUTOPATH_CONSTRAINT_MIN, AUTOPATH_CONSTRAINT_MAX.

Parameters

[in]	axisBit	- a bitwise inclusive OR operator (\|) of AUTOPATH_AXIS_BIT_1 ... AUTOPATH_AXIS_BIT_24
[in]	setting
[in]	qConstraintMin	- size of nConfig
[in]	qConstraintMax	- size of nConfig

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetAxisEnable()

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

static

Set axis enable.

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetAxisPriority()

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

static

Set axis priority.

Parameters

[in]	axisBit
[in]	priority	[1..50..100]

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetParameter()

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

static

Set parameter Paramter 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_THREAD_EXECUTION
AUTOPATH_PARAMETER_SEED_VALUE.

Parameters

[in]	ap_option	- autopath option
[in]	ap_value	- autopath value

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetPoseEnd()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::SetPoseEnd ( double * pose_end )

static

Set end configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.

Parameters

[in] pose_end pointer to start pose, maximum size AUTOPATH_KIN_DOFS

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

◆ SetPoseStart()

static ER_DllExport int ER_CAPI_MOP_AUTOPATH_SDK::SetPoseStart ( double * pose_start )

static

Set start configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.

Parameters

[in] pose_start pointer to start pose, maximum size AUTOPATH_KIN_DOFS

Return values

0	- AUTOPATH_OK
1	- AUTOPATH_ERROR

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()

◆ AutoPath_SetCallback_CheckConstraints()

◆ AutoPathFreeMem()

◆ AutoPathInit()

◆ AutoPathSetMem()

◆ AutoPathTerminate()

◆ AutoPathVer()

◆ ClearAllWayPoints()

◆ FindPath()

◆ GetAxisConstraintsMax()

◆ GetAxisConstraintsMin()

◆ GetConfigurationPose()

◆ GetEndPose()

◆ GetNumberOfWayPoints()

◆ GetParameter()

◆ GetPlanningStatus()

◆ GetResults()

◆ GetStartPose()

◆ GetWayPoint()

◆ GetWayPointDof()

◆ SetAccuracy()

◆ SetAxisConstraints()

◆ SetAxisEnable()

◆ SetAxisPriority()

◆ SetParameter()

◆ SetPoseEnd()

◆ SetPoseStart()