ER_CAPI_SIM Class Reference

Method class for simulation settings. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM:

Static Public Member Functions
static ER_DllExport float *	inq_sim_time (void)
	Global simulation time [s]. More...
static ER_DllExport float *	inq_sim_step (void)
	Sample rate simulation step size [s]. More...
static ER_DllExport int	LoadToolFileRun (char *fln)
	Load a tool file '.tol' while program is running. More...
static ER_DllExport int	AuxUpdate (int idx, int sub_idx=0)
	Forces an AuxUpdate() call Parameter idx is one of AUX_UPDATE_IDX_SIMUPDATE to AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED Parameter sub_idx is an user defined individual index passed through all other API-UserDLL. More...
static ER_DllExport int	StartCondition_ResetSave (int start_condition=START_CONDITION_RESET_ALL_ROBOTS)
	Reset or Save the Start Conditions for the current or all robots Parameter start_condition is bitwise inclusive OR operator (|) of START_CONDITION_RESET to START_CONDITION_ENVIRONMENT_BODIES. More...

Static Public Attributes
static ER_CAPI_SIM_MONITORING	er_capi_sim_monitoring
	Method class for monitoring of travel ranges, speeds, etc. More...
static ER_CAPI_SIM_COLLISION	er_capi_sim_collision
	Method class for collision, tolerances, etc. More...
static ER_CAPI_SIM_CAMERA	er_capi_sim_camera
	Method class for camera settings. More...
static ER_CAPI_SIM_ERPL	er_capi_sim_erpl
	ethod class for executing ERPL- and ERCL commands More...
static ER_CAPI_SIM_TRACK	er_capi_sim_track
	Method class for TCP trace, reference and visualization. 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 simulation settings.

Member Function Documentation

AuxUpdate()

static ER_DllExport int ER_CAPI_SIM::AuxUpdate ( int  idx, int  sub_idx = 0  )

static

Forces an AuxUpdate() call
Parameter idx is one of AUX_UPDATE_IDX_SIMUPDATE to AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED
Parameter sub_idx is an user defined individual index passed through all other API-UserDLL.

Parameters

[in]	idx
[in]	sub_idx

Return values

0	- OK
1	- Error

inq_sim_step()

static ER_DllExport float* ER_CAPI_SIM::inq_sim_step ( void  )

static

Sample rate simulation step size [s].

Return values

pointer

to simulation step

inq_sim_time()

static ER_DllExport float* ER_CAPI_SIM::inq_sim_time ( void  )

static

Global simulation time [s].

Return values

pointer

to simulation time

LoadToolFileRun()

static ER_DllExport int ER_CAPI_SIM::LoadToolFileRun ( char *  fln )

static

Load a tool file '.tol' while program is running.

Parameters

[in]

fln

complete tool file name with absolute path

Return values

0	- OK
1	- Error

StartCondition_ResetSave()

static ER_DllExport int ER_CAPI_SIM::StartCondition_ResetSave ( int  start_condition = START_CONDITION_RESET_ALL_ROBOTS )

static

Reset or Save the Start Conditions for the current or all robots
Parameter start_condition is bitwise inclusive OR operator (|) of START_CONDITION_RESET to START_CONDITION_ENVIRONMENT_BODIES.

Parameters

[in]

start_condition

Return values

0	- OK
1	- Error

Member Data Documentation

er_capi_sim_camera

ER_CAPI_SIM_CAMERA ER_CAPI_SIM::er_capi_sim_camera

static

Method class for camera settings.

er_capi_sim_collision

ER_CAPI_SIM_COLLISION ER_CAPI_SIM::er_capi_sim_collision

static

Method class for collision, tolerances, etc.

er_capi_sim_erpl

ER_CAPI_SIM_ERPL ER_CAPI_SIM::er_capi_sim_erpl

static

ethod class for executing ERPL- and ERCL commands

er_capi_sim_monitoring

ER_CAPI_SIM_MONITORING ER_CAPI_SIM::er_capi_sim_monitoring

static

Method class for monitoring of travel ranges, speeds, etc.

er_capi_sim_track

ER_CAPI_SIM_TRACK ER_CAPI_SIM::er_capi_sim_track

static

Method class for TCP trace, reference and visualization.

---

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

• ER_CAPI.H