EASY-ROB™ Application Programming Interface  v8.008
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Static Public Member Functions | List of all members
ER_CAPI_SIM_COLLISION Class Reference

Method class for collision, tolerances, etc. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_COLLISION:
ER_CAPI_SIM ER_CAPI

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_PAIRget_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_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...
 

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...
 

Detailed Description

Method class for collision, tolerances, etc.

Member Function Documentation

static ER_DllExport int ER_CAPI_SIM_COLLISION::chk_collision_devices_tupel_list ( int  n_dev_tupel_list,
COLL_DEVICE_TUPEL dev_tupel_list,
int  setting = 0 
)
static

Check for collision in device tupel list
To get more detailled collision results, use get_collision_pair() and get_number_of_collision_pairs()

Parameters
[in]n_dev_tupel_listnumber of device tupels COLL_DEVICE_TUPEL
[in]dev_tupel_listlist of device tupels, a set of COLL_DEVICE pairs
[in]setting=0 tbd, to control functionality
Return values
1- collision occured in device tupel list
0- no collision
-1- error
static ER_DllExport void ER_CAPI_SIM_COLLISION::chk_collision_export ( void  )
static

Enables and initializes collision check if disabled.

Return values
void
static ER_DllExport int ER_CAPI_SIM_COLLISION::chk_nom_values_export ( int  chk_bit_field = 0)
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.

Parameters
[in]chk_bit_fieldrequest for occurence
Return values
0- no occurence
1- occurence
static ER_DllExport COLL_PAIR* ER_CAPI_SIM_COLLISION::get_collision_pair ( int  coll_pair_idx)
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.

Return values
pointerto collision pair COLL_PAIR based on coll_pair_idx
NULLif no collision pair stored
static ER_DllExport int ER_CAPI_SIM_COLLISION::get_number_of_collision_pairs ( void  )
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.

Return values
numberof collision pairs
static ER_DllExport float ER_CAPI_SIM_COLLISION::inq_coll_min_distance ( void  )
static

Shortest distance when no collision.

Return values
distance
static ER_DllExport float ER_CAPI_SIM_COLLISION::inq_coll_min_distance_c ( void  )
static

Collision distance when collision (dist < collision tolerance)

Return values
distance
static ER_DllExport float* ER_CAPI_SIM_COLLISION::inq_coll_min_distance_p1 ( void  )
static

Collision point 'p1' of 1st colliding geometry.

Return values
pointerxyz p[DIM] vector w.r.t. world
static ER_DllExport float* ER_CAPI_SIM_COLLISION::inq_coll_min_distance_p2 ( void  )
static

Collision point 'p2' of 2nd colliding geometry.

Return values
pointerxyz p[DIM] vector w.r.t. world
static ER_DllExport float* ER_CAPI_SIM_COLLISION::inq_coll_min_distance_pc ( void  )
static

Collision point 'pc' w.r.t. world.

Return values
pointerxyz p[DIM] vector
static ER_DllExport float* ER_CAPI_SIM_COLLISION::inq_coll_min_distance_xyz ( void  )
static

xyz component for shortest w.r.t. world coorsys

Return values
pointerxyz p[DIM] vector
static ER_DllExport int* ER_CAPI_SIM_COLLISION::inq_collision ( void  )
static

Enables, disables collision.

Return values
pointer
static ER_DllExport int* ER_CAPI_SIM_COLLISION::inq_red_blue_collision ( void  )
static

Enables, disables red/blue collision.

Return values
pointer
static ER_DllExport int* ER_CAPI_SIM_COLLISION::inq_show_collision_line ( void  )
static

Enable, disables show collision line with min. distance value.

Return values
pointer
static ER_DllExport int* ER_CAPI_SIM_COLLISION::inq_stop_collision ( void  )
static

Enables, disables stop on collision.

Return values
pointer

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