EASY-ROB™ Application Programming Interface  v8.008
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ER_CAPI_MOP_EXEC Class Reference

Method class for trajectory execution. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_MOP_EXEC:
ER_CAPI_MOP ER_CAPI_DEVICES ER_CAPI

Static Public Member Functions

static ER_DllExport float * inq_ipo_exec_qs (void)
 Desired interpolated joint data [rad] or [m]. More...
 
static ER_DllExport float * inq_ipo_exec_vs (void)
 Desired interpolated joint speed data [rad/s] or [m/s]. More...
 
static ER_DllExport float * inq_ipo_exec_as (void)
 Desired interpolated joint acceleration data [rad/s^2] or [m/s^2]. More...
 
static ER_DllExport frameinq_ipo_exec_Ts (void)
 Desired interpolated cartesian location frame [m]. More...
 
static ER_DllExport int move_to_ax_api (void *vrpd, int line_no, int step_no, char *prg_line, float *qs, int extax_mode=EXTAX_MODE_OFF, float *v_linext=NULL, int *q_linext_idx=NULL)
 Moves to joint target data qs. More...
 
static ER_DllExport int move_to_api (void *vrpd, int line_no, int step_no, char *prg_line, frame *via_T, frame *Ts, int extax_mode=EXTAX_MODE_OFF, float *q_linext=NULL, float *v_linext=NULL, int *q_linext_idx=NULL)
 Moves to cartesian target location Ts
For circular interpolation the via target location via_T is considered. 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)
 If the reference type is REF_JNT, the number of reference joint is returned
For active joints a positive value > 0 is returnd
For passive joints a negative value < 0 is returnd. 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 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 trajectory execution.

Member Function Documentation

static ER_DllExport float* ER_CAPI_MOP_EXEC::inq_ipo_exec_as ( void  )
static

Desired interpolated joint acceleration data [rad/s^2] or [m/s^2].

Return values
pointerto desired joint accelerations, KIN_DOFS
static ER_DllExport float* ER_CAPI_MOP_EXEC::inq_ipo_exec_qs ( void  )
static

Desired interpolated joint data [rad] or [m].

Return values
pointerto desired joints, KIN_DOFS
static ER_DllExport frame* ER_CAPI_MOP_EXEC::inq_ipo_exec_Ts ( void  )
static

Desired interpolated cartesian location frame [m].

Return values
pointerto FRAME
static ER_DllExport float* ER_CAPI_MOP_EXEC::inq_ipo_exec_vs ( void  )
static

Desired interpolated joint speed data [rad/s] or [m/s].

Return values
pointerto desired joint speeds, KIN_DOFS
static ER_DllExport int ER_CAPI_MOP_EXEC::move_to_api ( void *  vrpd,
int  line_no,
int  step_no,
char *  prg_line,
frame via_T,
frame Ts,
int  extax_mode = EXTAX_MODE_OFF,
float *  q_linext = NULL,
float *  v_linext = NULL,
int *  q_linext_idx = NULL 
)
static

Moves to cartesian target location Ts
For circular interpolation the via target location via_T is considered.

Parameters
[in]vrpdinternal address, do not touch !
[in]line_noprogram line number
[in]step_noprogram line number
[in]prg_lineprogram line
[in]via_Tcartesian via target location for circular interpolation
[in]Tscartesian target location
[in]extax_modeexternal axis mode, one of EXTAX_MODE_OFF, EXTAX_MODE_TAG, EXTAX_MODE_STD or EXTAX_MODE_USR
[in]q_linextExternal axis data [m,rad], if extax_mode equals EXTAX_MODE_STD or equals EXTAX_MODE_USR
[in]v_linextUsed for external speed axis, if extax_mode equals EXTAX_MODE_USR
[in]q_linext_idxexternel axis index field, 0-not set, 1-pos axis, 2-speed axis
Return values
0- ER_OK
1- invalid, abort
2- Target reached
3- need more data, one step before taregt reached
static ER_DllExport int ER_CAPI_MOP_EXEC::move_to_ax_api ( void *  vrpd,
int  line_no,
int  step_no,
char *  prg_line,
float *  qs,
int  extax_mode = EXTAX_MODE_OFF,
float *  v_linext = NULL,
int *  q_linext_idx = NULL 
)
static

Moves to joint target data qs.

Parameters
[in]vrpdinternal address, do not touch !
[in]line_noprogram line number
[in]step_noprogram line number
[in]prg_lineprogram line
[in]qstarget joint data
[in]extax_modeexternal axis mode, one of EXTAX_MODE_OFF, EXTAX_MODE_TAG, EXTAX_MODE_STD or EXTAX_MODE_USR
[in]v_linextUsed for external speed axis, if extax_mode equals EXTAX_MODE_USR
[in]q_linext_idxexternel axis index field, 0-not set, 1-pos axis, 2-speed axis
Return values
0- ER_OK
1- invalid, abort
2- Target reached
3- need more data, one step before taregt reached

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