EASY-ROB™ Application Programming Interface
v9.301
|
Method class for collision, tolerances, etc. More...
#include <ER_CAPI.H>
Static Public Member Functions | |
static ER_DllExport float | inq_coll_min_distance_c (void) |
Collision distance when collision (dist < collision tolerance) More... | |
static ER_DllExport float | inq_coll_min_distance (void) |
Shortest distance when no collision. More... | |
static ER_DllExport float * | inq_coll_min_distance_p1 (void) |
Collision point 'p1' of 1st colliding geometry. More... | |
static ER_DllExport float * | inq_coll_min_distance_p2 (void) |
Collision point 'p2' of 2nd colliding geometry. More... | |
static ER_DllExport float * | inq_coll_min_distance_pc (void) |
Collision point 'pc' w.r.t. world. More... | |
static ER_DllExport float * | inq_coll_min_distance_xyz (void) |
xyz component for shortest w.r.t. world coorsys More... | |
static ER_DllExport int * | inq_collision (void) |
Enables, disables collision. More... | |
static ER_DllExport int * | inq_red_blue_collision (void) |
Enables, disables red/blue collision. More... | |
static ER_DllExport int * | inq_stop_collision (void) |
Enables, disables stop on collision. More... | |
static ER_DllExport int * | inq_show_collision_line (void) |
Enable, disables show collision line with min. distance value. More... | |
static ER_DllExport void | chk_collision_export (void) |
Enables and initializes collision check if disabled. More... | |
static ER_DllExport int | chk_nom_values_export (int chk_bit_field=0) |
Check if an Error occured The parameter chk_bit_field as a bitwise inclusive OR operator (|) of the following values.CHK_NOM_VALUES_SWE - Request if at least one axis exceeds its maximum allowed travel ranges CHK_NOM_VALUES_SPEED - Request if at least one axis exceeds its maximum allowed axis speed CHK_NOM_VALUES_ACCEL - Request if at least one axis exceeds its maximum allowed axis acceleration CHK_NOM_VALUES_COLLISION - Request for workcell collision CHK_NOM_VALUES_CART_SPACE - Request if Robot exceeds the cartesian space with its Tcp location or its bBox geometries CHK_NOM_VALUES_ALL - all together. More... | |
static ER_DllExport int | get_number_of_collision_pairs (void) |
Get number of collision pairs in case a collsion occurred. The maximum number of stored collision pairs while collision happened is COLL_PAIRS_MAX Use get_collision_pair() to get detailled information for each collision pair. More... | |
static ER_DllExport COLL_PAIR * | get_collision_pair (int coll_pair_idx) |
Get one collision pair The parameter coll_pair_idx is the index for the required collision pair in [0..number of collision pairs-1].Use get_number_of_collision_pairs() to get the number of collision pairs. More... | |
static ER_DllExport int | chk_collision_devices_tupel_list (int n_dev_tupel_list, COLL_DEVICE_TUPEL *dev_tupel_list, int setting=0) |
Check for collision in device tupel list To get more detailled collision results, use get_collision_pair() and get_number_of_collision_pairs() More... | |
Static Public Member Functions inherited from ER_CAPI_SIM | |
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_EXCEEDEDParameter 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... | |
Additional Inherited Members | |
Static Public Attributes inherited from ER_CAPI_SIM | |
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... | |
Method class for collision, tolerances, etc.
|
static |
Check for collision in device tupel list
To get more detailled collision results, use get_collision_pair() and get_number_of_collision_pairs()
[in] | n_dev_tupel_list | number of device tupels COLL_DEVICE_TUPEL |
[in] | dev_tupel_list | list of device tupels, a set of COLL_DEVICE pairs |
[in] | setting | =0 tbd, to control functionality |
1 | - collision occured in device tupel list |
0 | - no collision |
-1 | - error |
|
static |
Enables and initializes collision check if disabled.
void |
|
static |
Check if an Error occured
The parameter chk_bit_field
as a bitwise inclusive OR operator (|) of the following values.
CHK_NOM_VALUES_SWE - Request if at least one axis exceeds its maximum allowed travel ranges
CHK_NOM_VALUES_SPEED - Request if at least one axis exceeds its maximum allowed axis speed
CHK_NOM_VALUES_ACCEL - Request if at least one axis exceeds its maximum allowed axis acceleration
CHK_NOM_VALUES_COLLISION - Request for workcell collision
CHK_NOM_VALUES_CART_SPACE - Request if Robot exceeds the cartesian space with its Tcp location or its bBox geometries
CHK_NOM_VALUES_ALL - all together.
[in] | chk_bit_field | request for occurence |
0 | - no occurence |
1 | - occurence |
|
static |
Get one collision pair
The parameter coll_pair_idx
is the index for the required collision pair in [0..number of collision pairs-1].
Use get_number_of_collision_pairs() to get the number of collision pairs.
pointer | to collision pair COLL_PAIR based on coll_pair_idx |
NULL | if no collision pair stored |
|
static |
Get number of collision pairs in case a collsion occurred.
The maximum number of stored collision pairs while collision happened is COLL_PAIRS_MAX
Use get_collision_pair() to get detailled information for each collision pair.
number | of collision pairs |
|
static |
Shortest distance when no collision.
distance |
|
static |
Collision distance when collision (dist < collision tolerance)
distance |
|
static |
Collision point 'p1' of 1st colliding geometry.
pointer | xyz p[DIM] vector w.r.t. world |
|
static |
Collision point 'p2' of 2nd colliding geometry.
pointer | xyz p[DIM] vector w.r.t. world |
|
static |
Collision point 'pc' w.r.t. world.
pointer | xyz p[DIM] vector |
|
static |
xyz component for shortest w.r.t. world coorsys
pointer | xyz p[DIM] vector |
|
static |
Enables, disables collision.
pointer |
|
static |
Enables, disables red/blue collision.
pointer |
|
static |
Enable, disables show collision line with min. distance value.
pointer |
|
static |
Enables, disables stop on collision.
pointer |