Method class for trajectory planning (preparation) More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_MOP_PREP:

Static Public Member Functions
static ER_DllExport int *	inq_ipo_prep_n_dof (void)
	Dof of robot. More...

static ER_DllExport float *	inq_ipo_prep_t_bahn (void)
	Required motion time for current move, calculated in ipo_preparation. More...

static ER_DllExport float *	inq_ipo_prep_strt_q (void)
	Robot joint data at start location. More...

static ER_DllExport float *	inq_ipo_prep_end_q (void)
	Robot joint data at target location. More...

static ER_DllExport float *	inq_ipo_prep_dq (void)
	Robot joint difference array (=strt_q - end_q) see inq_ipo_prep_strt_q(), inq_ipo_prep_end_q() More...

static ER_DllExport frame *	inq_ipo_prep_strt_T (void)
	Start TCP location. More...

static ER_DllExport frame *	inq_ipo_prep_end_T (void)
	Target TCP location. More...

static ER_DllExport frame *	inq_ipo_prep_inter_T (void)
	Intermediate Location (ViaPoint) for circular motion. More...

static ER_DllExport frame *	inq_ipo_prep_center_T (void)
	Center if circular motion, calculated from start-, via-, end point. More...

static ER_DllExport float *	inq_ipo_prep_dx (void)
	6 dim difference Vector (=strt_T-end_T) see inq_ipo_prep_strt_T(), inq_ipo_prep_end_T() More...

static ER_DllExport int *	inq_ipo_prep_sync (void)
	EasyEdit, Conveyor synchonization flag. More...

static ER_DllExport frame *	inq_ipo_prep_bTsync0 (void)
	EasyEdit, Conveyor Zero-Position. More...

static ER_DllExport frame *	inq_ipo_prep_dTsync (void)
	EasyEdit, Conveyor Delta-Position. More...

static ER_DllExport frame *	inq_ipo_prep_ie_Ts_sync (void)
	EasyEdit cTcp location w.r.t. Conveyor position. More...

static ER_DllExport int *	inq_ipo_prep_extax_mode (void)
	External Axis mode. More...

static ER_DllExport float *	inq_ipo_prep_v_extax (void)
	Speeds for external axis depending on setting ininq_ipo_prep_extax_jnt() More...

static ER_DllExport int *	inq_ipo_prep_extax_jnt (void)
	External Axis mode the external axis mode is one of 2 - speed jnt 1 - extax, 0 - no extax. 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 trajectory planning (preparation)

Member Function Documentation

◆ inq_ipo_prep_bTsync0()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_bTsync0 ( void )

static

EasyEdit, Conveyor Zero-Position.

Return values

pointer to FRAME

◆ inq_ipo_prep_center_T()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_center_T ( void )

static

Center if circular motion, calculated from start-, via-, end point.

Return values

pointer to FRAME

◆ inq_ipo_prep_dq()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_dq ( void )

static

Robot joint difference array (=strt_q - end_q)
see inq_ipo_prep_strt_q(), inq_ipo_prep_end_q()

Return values

diffence joint data, maximum size KIN_DOFS

◆ inq_ipo_prep_dTsync()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_dTsync ( void )

static

EasyEdit, Conveyor Delta-Position.

Return values

pointer to FRAME

◆ inq_ipo_prep_dx()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_dx ( void )

static

6 dim difference Vector (=strt_T-end_T)
see inq_ipo_prep_strt_T(), inq_ipo_prep_end_T()

Return values

dx,maximum size DOF6

◆ inq_ipo_prep_end_q()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_end_q ( void )

static

Robot joint data at target location.

Return values

joint data, maximum size KIN_DOFS

◆ inq_ipo_prep_end_T()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_end_T ( void )

static

Target TCP location.

Return values

pointer to FRAME

◆ inq_ipo_prep_extax_jnt()

static ER_DllExport int* ER_CAPI_MOP_PREP::inq_ipo_prep_extax_jnt ( void )

static

External Axis mode
the external axis mode is one of
2 - speed jnt 1 - extax, 0 - no extax.

Return values

external axis mode

◆ inq_ipo_prep_extax_mode()

static ER_DllExport int* ER_CAPI_MOP_PREP::inq_ipo_prep_extax_mode ( void )

static

External Axis mode.

Return values

1	- enabled
0	- disabled

◆ inq_ipo_prep_ie_Ts_sync()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_ie_Ts_sync ( void )

static

EasyEdit cTcp location w.r.t. Conveyor position.

Return values

pointer to FRAME

◆ inq_ipo_prep_inter_T()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_inter_T ( void )

static

Intermediate Location (ViaPoint) for circular motion.

Return values

pointer to FRAME

◆ inq_ipo_prep_n_dof()

static ER_DllExport int* ER_CAPI_MOP_PREP::inq_ipo_prep_n_dof ( void )

static

Dof of robot.

Return values

dof

◆ inq_ipo_prep_strt_q()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_strt_q ( void )

static

Robot joint data at start location.

Return values

joint data, maximum size KIN_DOFS

◆ inq_ipo_prep_strt_T()

static ER_DllExport frame* ER_CAPI_MOP_PREP::inq_ipo_prep_strt_T ( void )

static

Start TCP location.

Return values

pointer to FRAME

◆ inq_ipo_prep_sync()

static ER_DllExport int* ER_CAPI_MOP_PREP::inq_ipo_prep_sync ( void )

static

EasyEdit, Conveyor synchonization flag.

Return values

1	- enabled
0	- disabled

◆ inq_ipo_prep_t_bahn()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_t_bahn ( void )

static

Required motion time for current move, calculated in ipo_preparation.

Return values

required motion time

◆ inq_ipo_prep_v_extax()

static ER_DllExport float* ER_CAPI_MOP_PREP::inq_ipo_prep_v_extax ( void )

static

Speeds for external axis depending on setting ininq_ipo_prep_extax_jnt()

Return values

external axis speed, maximum size KIN_DOFS

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

◆ inq_ipo_prep_bTsync0()

◆ inq_ipo_prep_center_T()

◆ inq_ipo_prep_dq()

◆ inq_ipo_prep_dTsync()

◆ inq_ipo_prep_dx()

◆ inq_ipo_prep_end_q()

◆ inq_ipo_prep_end_T()

◆ inq_ipo_prep_extax_jnt()

◆ inq_ipo_prep_extax_mode()

◆ inq_ipo_prep_ie_Ts_sync()

◆ inq_ipo_prep_inter_T()

◆ inq_ipo_prep_n_dof()

◆ inq_ipo_prep_strt_q()

◆ inq_ipo_prep_strt_T()

◆ inq_ipo_prep_sync()

◆ inq_ipo_prep_t_bahn()

◆ inq_ipo_prep_v_extax()