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

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_ROB_ATRIBUTES:
ER_CAPI_ROB ER_CAPI_DEVICES ER_CAPI

Static Public Member Functions

static ER_DllExport int * inq_num_home (void)
 Number of predefined hompositions [1..KIN_HOMEPOSITIONS]. More...
 
static ER_DllExport int * inq_chome_idx (void)
 idx of current homeposition [0..KIN_HOMEPOSITIONS-1] More...
 
static ER_DllExport float * inq_homepos (void)
 Joint values of current homeposition. More...
 
static ER_DllExport float * inq_homepos_idx (int chome_idx)
 Joint values of homeposition with chome_idx = [0..KIN_HOMEPOSITIONS-1]
see inq_num_home() More...
 
static ER_DllExport char * inq_homepos_name (void)
 Name of current homeposition. More...
 
static ER_DllExport char * inq_homepos_name_idx (int chome_idx)
 Name of homeposition with chome_idx = [0..KIN_HOMEPOSITIONS-1]
see inq_homepos_name() More...
 
static ER_DllExport char * inq_joint_name_idx (int cjoint_idx)
 Name of joint with cjoint_idx = [0..KIN_DOFS-1]. More...
 
static ER_DllExport char * inq_joint_passive_name_idx (int cjoint_idx)
 Name of passive joint with cjoint_idx = [0..KIN_PASSIV_JNTS-1]. More...
 
static ER_DllExport char * inq_config_name_idx (int cconfig_idx)
 Name of configuration with cconfig_idx = [0..KIN_CONFIGS-1]. More...
 
static ER_DllExport float * inq_cart_limits_max (void)
 Max. fix cartesian xyz limits w.r.t. RBase [m]
see inq_cart_limits_joint_idx_active(), inq_cart_limits_joint_idx_passive() More...
 
static ER_DllExport float * inq_cart_limits_min (void)
 Min. fix cartesian xyz limits w.r.t. RBase [m]
see inq_cart_limits_joint_idx_active(), inq_cart_limits_joint_idx_passive() More...
 
static ER_DllExport int * inq_cart_limits_joint_idx_active (void)
 Bitfield to determine the active joints building the bounding box to check the cartesian limits
see inq_cart_limits_max(), inq_cart_limits_min() More...
 
static ER_DllExport int * inq_cart_limits_joint_idx_passive (void)
 Bitfield to determine the passive joints building the bounding box to check the cartesian limits
see inq_cart_limits_max(), inq_cart_limits_min() More...
 
static ER_DllExport float * inq_swe_max (void)
 Max. positive travel ranges (joint limits) [rad,m]. More...
 
static ER_DllExport float * inq_swe_min (void)
 Max. negative travel ranges (joint limits) [rad,m]. More...
 
static ER_DllExport int * inq_swe_calc (void)
 Enables math. dependency for travel ranges
see inq_swe_max_calc_md(), inq_swe_min_calc_md() More...
 
static ER_DllExport char * inq_swe_max_calc_md (int joint_idx)
 Equation to calculate math. dependency for positive travel ranges for an active joint
Takes effect if math. dependency for travel ranges is enabled
see inq_swe_calc() More...
 
static ER_DllExport char * inq_swe_min_calc_md (int joint_idx)
 Equation to calculate math. dependency for negative travel ranges for an active joint
Takes effect if math. dependency for travel ranges is enabled
see inq_swe_calc() More...
 
static ER_DllExport float * inq_v_max (void)
 Max. joint or axis speeds [rad/s,m/s]. More...
 
static ER_DllExport float * inq_a_max (void)
 Max. joint or axis acceleration [rad/s^2,m/s^2]. More...
 
static ER_DllExport float * inq_t_max (void)
 Max. joint or axis torque [Nm,N]. More...
 
static ER_DllExport float * inq_vx_max (void)
 Max. cart. speed [m/s]. More...
 
static ER_DllExport float * inq_ax_max (void)
 Max. cart. acceleration [m/s^2]. More...
 
static ER_DllExport float * inq_vx_ori_max (void)
 Max. cart. orientation speed [rad/s]. More...
 
static ER_DllExport float * inq_ax_ori_max (void)
 Max. cart. orientation acceleration [rad/s^2]. More...
 
static ER_DllExport float * inq_turn_interval (void)
 Range with constant turn_value, default=0 for each axis // Range shift, default=0 for each axis. More...
 
static ER_DllExport float * inq_turn_offset (void)
 Range shift, default=0 for each axis // Index for Turn Range, default=0. 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_ROB
static ER_CAPI_ROB_KIN er_capi_rob_kin
 Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system. More...
 
static ER_CAPI_ROB_ATRIBUTES er_capi_rob_attributes
 Method class for robot/device attributes, travel ranges, home position, device name, ... More...
 
static ER_CAPI_ROB_DYN er_capi_rob_dyn
 Method class for dynamics, controller parameter, sampling rates. 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...
 

Member Function Documentation

static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_a_max ( void  )
static

Max. joint or axis acceleration [rad/s^2,m/s^2].

Return values
Pointerto float for max. joint acceleration, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_ax_max ( void  )
static

Max. cart. acceleration [m/s^2].

Return values
Pointerto float for max. cartesian acceleration
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_ax_ori_max ( void  )
static

Max. cart. orientation acceleration [rad/s^2].

Return values
Pointerto float for max. cartesian orientation acceleration
static ER_DllExport int* ER_CAPI_ROB_ATRIBUTES::inq_cart_limits_joint_idx_active ( void  )
static

Bitfield to determine the active joints building the bounding box to check the cartesian limits
see inq_cart_limits_max(), inq_cart_limits_min()

Return values
Pointerto int for bitfield
static ER_DllExport int* ER_CAPI_ROB_ATRIBUTES::inq_cart_limits_joint_idx_passive ( void  )
static

Bitfield to determine the passive joints building the bounding box to check the cartesian limits
see inq_cart_limits_max(), inq_cart_limits_min()

Return values
Pointerto int for bitfield
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_cart_limits_max ( void  )
static

Max. fix cartesian xyz limits w.r.t. RBase [m]
see inq_cart_limits_joint_idx_active(), inq_cart_limits_joint_idx_passive()

Return values
Pointerto float for cartesian xyz limits, DIM
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_cart_limits_min ( void  )
static

Min. fix cartesian xyz limits w.r.t. RBase [m]
see inq_cart_limits_joint_idx_active(), inq_cart_limits_joint_idx_passive()

Return values
Pointerto float for cartesian xyz limits, DIM
static ER_DllExport int* ER_CAPI_ROB_ATRIBUTES::inq_chome_idx ( void  )
static

idx of current homeposition [0..KIN_HOMEPOSITIONS-1]

Return values
pointerto int for current home positions
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_config_name_idx ( int  cconfig_idx)
static

Name of configuration with cconfig_idx = [0..KIN_CONFIGS-1].

Parameters
[in]cconfig_idx- current configuration index
Return values
pointerto char for current configuration
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_homepos ( void  )
static

Joint values of current homeposition.

Return values
pointerto float for current home positions joint values, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_homepos_idx ( int  chome_idx)
static

Joint values of homeposition with chome_idx = [0..KIN_HOMEPOSITIONS-1]
see inq_num_home()

Parameters
[in]chome_idx- current home position
Return values
pointerto float for home positions joint values, KIN_DOFS
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_homepos_name ( void  )
static

Name of current homeposition.

Return values
pointerto char array
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_homepos_name_idx ( int  chome_idx)
static

Name of homeposition with chome_idx = [0..KIN_HOMEPOSITIONS-1]
see inq_homepos_name()

Parameters
[in]chome_idx- current home position
Return values
pointerto char for current home position name
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_joint_name_idx ( int  cjoint_idx)
static

Name of joint with cjoint_idx = [0..KIN_DOFS-1].

Parameters
[in]cjoint_idx- current active joint index
Return values
pointerto char for current active joint name
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_joint_passive_name_idx ( int  cjoint_idx)
static

Name of passive joint with cjoint_idx = [0..KIN_PASSIV_JNTS-1].

Parameters
[in]cjoint_idx- current passive joint index
Return values
pointerto char for current passive joint name
static ER_DllExport int* ER_CAPI_ROB_ATRIBUTES::inq_num_home ( void  )
static

Number of predefined hompositions [1..KIN_HOMEPOSITIONS].

Return values
pointerto int for number of home positions
static ER_DllExport int* ER_CAPI_ROB_ATRIBUTES::inq_swe_calc ( void  )
static

Enables math. dependency for travel ranges
see inq_swe_max_calc_md(), inq_swe_min_calc_md()

Return values
1- math. dependency enabled
0- math. dependency disabled
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_swe_max ( void  )
static

Max. positive travel ranges (joint limits) [rad,m].

Return values
Pointerto float for pos joint limits, KIN_DOFS
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_swe_max_calc_md ( int  joint_idx)
static

Equation to calculate math. dependency for positive travel ranges for an active joint
Takes effect if math. dependency for travel ranges is enabled
see inq_swe_calc()

Parameters
[in]joint_idx- active joint index [0..KIN_DOFS-1]
Return values
pointerto char, maximum size LS_MAXSTR
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_swe_min ( void  )
static

Max. negative travel ranges (joint limits) [rad,m].

Return values
Pointerto float for neg joint limits, KIN_DOFS
static ER_DllExport char* ER_CAPI_ROB_ATRIBUTES::inq_swe_min_calc_md ( int  joint_idx)
static

Equation to calculate math. dependency for negative travel ranges for an active joint
Takes effect if math. dependency for travel ranges is enabled
see inq_swe_calc()

Parameters
[in]joint_idx- active joint index [0..KIN_DOFS-1]
Return values
pointerto char, maximum size LS_MAXSTR
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_t_max ( void  )
static

Max. joint or axis torque [Nm,N].

Return values
Pointerto float for max. joint torque, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_turn_interval ( void  )
static

Range with constant turn_value, default=0 for each axis // Range shift, default=0 for each axis.

Return values
Pointerto float for turn interval, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_turn_offset ( void  )
static

Range shift, default=0 for each axis // Index for Turn Range, default=0.

Return values
Pointerto float for turn offset interval, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_v_max ( void  )
static

Max. joint or axis speeds [rad/s,m/s].

Return values
Pointerto float for max. joint speed, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_vx_max ( void  )
static

Max. cart. speed [m/s].

Return values
Pointerto float for max. cartesian speed
static ER_DllExport float* ER_CAPI_ROB_ATRIBUTES::inq_vx_ori_max ( void  )
static

Max. cart. orientation speed [rad/s].

Return values
Pointerto float for max. cartesian orientation speed

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