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

Method class for TCP trace, reference and visualization. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_TRACK:
ER_CAPI_SIM ER_CAPI

Static Public Member Functions

static ER_DllExport int * inq_track_ref_sys_type (void)
 Reference type of the tcp trace
The reference type (attach location) can be one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT. More...
 
static ER_DllExport char * inq_track_ref_sys_type_name (void)
 Reference type name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type() More...
 
static ER_DllExport int * inq_track_ref_sys_grp (void)
 Reference group of tcp trace
The reference group depends on the attach location.
e.g.: If the cTcp trace is attacehd to another robot, the returned reference group will ROBOT_GRP
If the cTcp trace 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_track_ref_sys_grp_uid (void)
 Unique ID of reference device/robot
The Unique ID depends on the attach location. More...
 
static ER_DllExport int * inq_track_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 char * inq_track_ref_sys_name (void)
 Reference name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type(), inq_track_ref_sys_type_name() More...
 
static ER_DllExport int * inq_track_color (void)
 Tcp trace color. More...
 
static ER_DllExport int * inq_track_dyn_color (void)
 Dynamics Tcp trace color. More...
 
static ER_DllExport int * inq_rob_track_bits (void)
 Set the Tcp trace attribute Bits. More...
 
static ER_DllExport int * inq_rob_track_dyn_bits (void)
 Set the Dynamics Tcp trace attribute Bits. More...
 
static ER_DllExport int * inq_rob_track_vis (void)
 Tcp trace visibility for cRobot. More...
 
static ER_DllExport int * inq_rob_track_dyn_vis (void)
 Dynamics Tcp trace visibility. More...
 
static ER_DllExport int * inq_rob_track_vis_attrib (void)
 Tcp trace attributes visibility for cRobot. More...
 
static ER_DllExport int * inq_rob_track_dyn_vis_attrib (void)
 Dynamics Tcp trace attributes visibility for cRobot. More...
 
static ER_DllExport void track_reset (int dyn=0)
 Deletes the Tcp trace for the current device. 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 TCP trace, reference and visualization.

Member Function Documentation

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_bits ( void  )
static

Set the Tcp trace attribute Bits.

Return values
pointerto bit array
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_bits ( void  )
static

Set the Dynamics Tcp trace attribute Bits.

Return values
pointerto bit array
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_vis ( void  )
static

Dynamics Tcp trace visibility.

Return values
0- Invisible
1- Visible
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_vis_attrib ( void  )
static

Dynamics Tcp trace attributes visibility for cRobot.

Return values
0- Invisible
1- Visible
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_vis ( void  )
static

Tcp trace visibility for cRobot.

Return values
0- Invisible
1- Visible
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_vis_attrib ( void  )
static

Tcp trace attributes visibility for cRobot.

Return values
0- Invisible
1- Visible
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_color ( void  )
static

Tcp trace color.

Return values
>=0- standard color ER_BLACK, ER_BLUE ... ER_WHITE or an 7 Bit based RGB color index
-1- ER_ALTERNATE
-2- ER_INVISIBLE
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_dyn_color ( void  )
static

Dynamics Tcp trace color.

Return values
>=0- standard color ER_BLACK, ER_BLUE ... ER_WHITE or an 7 Bit based RGB color index
-1- ER_ALTERNATE
-2- ER_INVISIBLE
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_grp ( void  )
static

Reference group of tcp trace
The reference group depends on the attach location.
e.g.: If the cTcp trace is attacehd to another robot, the returned reference group will ROBOT_GRP
If the cTcp trace 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.

Return values
pointerto reference group
static ER_DllExport ER_UID* ER_CAPI_SIM_TRACK::inq_track_ref_sys_grp_uid ( void  )
static

Unique ID of reference device/robot
The Unique ID depends on the attach location.

Return values
>0 Unique ID
0Tcp trace is not attached, has no reference
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_jnt_idx ( void  )
static

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.

Return values
>0 active joint
<0 passive joint
0reference joint is the robot base or reference type is not REF_JNT
static ER_DllExport char* ER_CAPI_SIM_TRACK::inq_track_ref_sys_name ( void  )
static

Reference name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type(), inq_track_ref_sys_type_name()

Return values
pointerto char of reference name
static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_type ( void  )
static

Reference type of the tcp trace
The reference type (attach location) can be one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT.

Return values
pointerto reference type
static ER_DllExport char* ER_CAPI_SIM_TRACK::inq_track_ref_sys_type_name ( void  )
static

Reference type name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type()

Return values
pointerto reference type name
static ER_DllExport void ER_CAPI_SIM_TRACK::track_reset ( int  dyn = 0)
static

Deletes the Tcp trace for the current device.

Parameters
[in]dynset 1 to reset the dynamics tcp trace, otherwise 0

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