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

Method class for dynamics, controller parameter, sampling rates. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_ROB_DYN:
ER_CAPI_ROB ER_CAPI_DEVICES ER_CAPI

Static Public Member Functions

static ER_DllExport frameinq_mbTt_dyn (void)
 Actual Transformation movable base to Tip, depending on actual joint data. More...
 
static ER_DllExport frameinq_mbTw_dyn (void)
 Actual Transformation movable base to Tcp, depending on actual joint data. More...
 
static ER_DllExport float * inq_cntrl_step (void)
 Sample rate position controller for cRobot [s]. More...
 
static ER_DllExport float * inq_system_step (void)
 Sample rate system model for cRobot [s]. More...
 
static ER_DllExport float * inq_cntrl_kpp (void)
 P Factor for P-PI Cascade Controller. More...
 
static ER_DllExport float * inq_cntrl_kpv (void)
 PV Factor for PPI Cascade Controller. More...
 
static ER_DllExport float * inq_cntrl_kiv (void)
 I Factor for PPI Cascade Controller. More...
 
static ER_DllExport float * inq_cntrl_uc_kiv1 (void)
 Controller Signal. More...
 
static ER_DllExport float * inq_cntrl_aux1 (void)
 1st Auxiliary controller parameter More...
 
static ER_DllExport float * inq_cntrl_aux2 (void)
 2nd Auxiliary controller parameter More...
 
static ER_DllExport float * inq_cntrl_aux3 (void)
 3rd Auxiliary controller parameter More...
 
static ER_DllExport float * inq_cntrl_e1 (void)
 1st Controller Error More...
 
static ER_DllExport float * inq_cntrl_e2 (void)
 2nd Controller Error More...
 
static ER_DllExport float * inq_model_N (void)
 Gear ratio. More...
 
static ER_DllExport float * inq_model_T_base (void)
 symplified System constant
Depending on inq_model_theta_base() theta and inq_model_d_base() d, T_base = theta/d More...
 
static ER_DllExport float * inq_model_theta_base (void)
 symplified inertia More...
 
static ER_DllExport float * inq_model_d_base (void)
 symplified viscose damping More...
 
static ER_DllExport float * inq_model_vz1_v (void)
 Discrete model: V Factor of PT1 transfer function
Depending on system step inq_system_step(), vz1_v = 1.0/d_base. More...
 
static ER_DllExport float * inq_model_vz1_a (void)
 Discrete model: A Value of PT1 transfer function
Depending on system step inq_system_step() dt and inq_model_T_base T_base , vz1_a = exp(-dt/T_base) More...
 
static ER_DllExport float * inq_model_z1 (void)
 Actual joint speed one sampling step before
see inq_v_dyn(), inq_model_z2() More...
 
static ER_DllExport float * inq_model_z2 (void)
 Actual joint speed two sampling steps before
see inq_v_dyn(), inq_model_z1() More...
 
static ER_DllExport float * inq_uc (void)
 Controller signal
see inq_uc1() More...
 
static ER_DllExport float * inq_uc1 (void)
 Controller signal last sampling step
see inq_uc() More...
 
static ER_DllExport float * inq_q_dyn (void)
 Actual dynamics joint axis values
see inq_v_dyn() = d(inq_q_dyn())/dt. More...
 
static ER_DllExport float * inq_v_dyn (void)
 Actual dynamics joint speed values
see inq_q_dyn(), inq_model_z1(), inq_model_z2()
and inq_a_dyn() = d(inq_v_dyn())/dt. More...
 
static ER_DllExport float * inq_a_dyn (void)
 Actual dynamics joint acceleration values
and inq_v_dyn(), inq_q_dyn() More...
 
static ER_DllExport frameinq_bTw_dyn (void)
 Actual Transformation from Robot base to Tcp, depending on actual joint data. More...
 
static ER_DllExport void ** inq_dyn_cntrl_usr_ptr (void)
 Access user pointer for dynamics controller in er_dyn.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_dyn_model_usr_ptr (void)
 Access user pointer for dynamics model in er_dyn.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 int * inq_status_output_type (void)
 Control for status output data
see STATUS_OUTPUT_TYPE
SIM_STEP=1, TARGET_POSE=2, IPO_STEP=3. More...
 
static ER_DllExport int * inq_status_output_tag_idx (void)
 Identifier if robot move to a tag location or to a location givin by numbers
>0 - move to a Tag else - moving to numbered location. More...
 
static ER_DllExport void ** inq_status_output_usr_ptr (void)
 Access user pointer for status output in er_dyn.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_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...
 

Detailed Description

Method class for dynamics, controller parameter, sampling rates.

Member Function Documentation

static ER_DllExport float* ER_CAPI_ROB_DYN::inq_a_dyn ( void  )
static

Actual dynamics joint acceleration values
and inq_v_dyn(), inq_q_dyn()

Return values
Pointerto float for dynamics joint acceleration values, KIN_DOFS
static ER_DllExport frame* ER_CAPI_ROB_DYN::inq_bTw_dyn ( void  )
static

Actual Transformation from Robot base to Tcp, depending on actual joint data.

Return values
Pointerto FRAME
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_aux1 ( void  )
static

1st Auxiliary controller parameter

Return values
Pointerto float aux parameter, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_aux2 ( void  )
static

2nd Auxiliary controller parameter

Return values
Pointerto float aux parameter, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_aux3 ( void  )
static

3rd Auxiliary controller parameter

Return values
Pointerto float aux parameter, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_e1 ( void  )
static

1st Controller Error

Return values
Pointerto float controller error, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_e2 ( void  )
static

2nd Controller Error

Return values
Pointerto float controller error, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_kiv ( void  )
static

I Factor for PPI Cascade Controller.

Return values
Pointerto float for I Factor, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_kpp ( void  )
static

P Factor for P-PI Cascade Controller.

Return values
Pointerto float for P Factor, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_kpv ( void  )
static

PV Factor for PPI Cascade Controller.

Return values
Pointerto float for PV Factor, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_step ( void  )
static

Sample rate position controller for cRobot [s].

Return values
Pointerto float for controller step
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_cntrl_uc_kiv1 ( void  )
static

Controller Signal.

Return values
Pointerto float control signal, KIN_DOFS
static ER_DllExport void** ER_CAPI_ROB_DYN::inq_dyn_cntrl_usr_ptr ( void  )
static

Access user pointer for dynamics controller in er_dyn.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()

Return values
pointerto user defined memory
static ER_DllExport void** ER_CAPI_ROB_DYN::inq_dyn_model_usr_ptr ( void  )
static

Access user pointer for dynamics model in er_dyn.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()

Return values
pointerto user defined memory
static ER_DllExport frame* ER_CAPI_ROB_DYN::inq_mbTt_dyn ( void  )
static

Actual Transformation movable base to Tip, depending on actual joint data.

Return values
Pointerto FRAME
static ER_DllExport frame* ER_CAPI_ROB_DYN::inq_mbTw_dyn ( void  )
static

Actual Transformation movable base to Tcp, depending on actual joint data.

Return values
Pointerto FRAME
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_d_base ( void  )
static

symplified viscose damping

Return values
Pointerto float for symplified viscose damping constant, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_N ( void  )
static

Gear ratio.

Return values
Pointerto float for gear ratio, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_T_base ( void  )
static

symplified System constant
Depending on inq_model_theta_base() theta and inq_model_d_base() d, T_base = theta/d

Return values
Pointerto float for symplified System constant, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_theta_base ( void  )
static

symplified inertia

Return values
Pointerto float for symplified inertia constant, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_vz1_a ( void  )
static

Discrete model: A Value of PT1 transfer function
Depending on system step inq_system_step() dt and inq_model_T_base T_base , vz1_a = exp(-dt/T_base)

Return values
Pointerto float for A Value, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_vz1_v ( void  )
static

Discrete model: V Factor of PT1 transfer function
Depending on system step inq_system_step(), vz1_v = 1.0/d_base.

Return values
Pointerto float for V factor, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_z1 ( void  )
static

Actual joint speed one sampling step before
see inq_v_dyn(), inq_model_z2()

Return values
Pointerto float for joint speed one step before, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_model_z2 ( void  )
static

Actual joint speed two sampling steps before
see inq_v_dyn(), inq_model_z1()

Return values
Pointerto float for joint speed two steps before, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_q_dyn ( void  )
static

Actual dynamics joint axis values
see inq_v_dyn() = d(inq_q_dyn())/dt.

Return values
Pointerto float for dynamics joint axis values, KIN_DOFS
static ER_DllExport int* ER_CAPI_ROB_DYN::inq_status_output_tag_idx ( void  )
static

Identifier if robot move to a tag location or to a location givin by numbers
>0 - move to a Tag else - moving to numbered location.

Return values
pointerto status output tag idx
static ER_DllExport int* ER_CAPI_ROB_DYN::inq_status_output_type ( void  )
static

Control for status output data
see STATUS_OUTPUT_TYPE
SIM_STEP=1, TARGET_POSE=2, IPO_STEP=3.

Return values
pointerto status output type
static ER_DllExport void** ER_CAPI_ROB_DYN::inq_status_output_usr_ptr ( void  )
static

Access user pointer for status output in er_dyn.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()

Return values
pointerto user defined memory
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_system_step ( void  )
static

Sample rate system model for cRobot [s].

Return values
Pointerto float for system step
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_uc ( void  )
static

Controller signal
see inq_uc1()

Return values
Pointerto float for controller signal, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_uc1 ( void  )
static

Controller signal last sampling step
see inq_uc()

Return values
Pointerto float for controller signal last sampling step, KIN_DOFS
static ER_DllExport float* ER_CAPI_ROB_DYN::inq_v_dyn ( void  )
static

Actual dynamics joint speed values
see inq_q_dyn(), inq_model_z1(), inq_model_z2()
and inq_a_dyn() = d(inq_v_dyn())/dt.

Return values
Pointerto float for dynamics joint speed values, KIN_DOFS

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