ER_CAPI_SYS_VIEW Class Reference

Method class for graphical update of the 3D scene, refreshing dialogs, etc. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SYS_VIEW:

Static Public Member Functions
static ER_DllExport void	grf_update_export (int chk=0)
	Forces a graphical update of the 3D Scene This grahpical update includes a mathematical update for all devices, see ER_CAPI_DEVICES::data_update_all_devices() If paramter chk is set, travel ranges, speeds, accelerations, cartesian space and collision are checked Remarks This function has no effect if the simulation is already running. More...
static ER_DllExport int *	inq_cell_info_show (void)
	Enable or disable the cell information Use inq_cell_info() to set cell information. More...
static ER_DllExport char *	inq_cell_info (void)
	Cell Information The cell information will be displayed in the lower left corner of the opengl scene Use inq_cell_info_show() to enable or disable the cell information. More...
static ER_DllExport int	RefreshTagWindow (int mode)
	Refresh Tag Window. More...
static ER_DllExport float *	inq_ergl_material_light (int ergl_param=ERGL_UNDEF, int ergl_mode=ERGL_MODE_INQ)
	Request OpenGL material or light attributes Remarks Parameter ergl_param defines the requested value Use parameter ergl_mode to get the address ERGL_MODE_INQ or to reset ERGL_MODE_RESET or to transfer the attributes to OpenGL ERGL_MODE_SET. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_SYS
static ER_CAPI_SYS_UTILITIES	er_capi_sys_utilities
	Method class for helping functions, color conversion, etc. More...
static ER_CAPI_SYS_MATHEMATICS	er_capi_sys_mathematics
	Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc. More...
static ER_CAPI_SYS_VIEW	er_capi_sys_view
	Method class for graphical update of the 3D scene, refreshing dialogs, etc. More...
static ER_CAPI_SYS_PREVIEW	er_capi_sys_preview
	Method class for the CAD-Preview. More...
static ER_CAPI_SYS_STATUS	er_capi_sys_status
	Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status. More...
static ER_CAPI_SYS_UNITS	er_capi_sys_units
	Method class for setting and calculating units. More...
static ER_CAPI_SYS_USERDLL	er_capi_sys_userdll
	Method class to access API UserDll. More...
static ER_CAPI_SYS_APIDLL	er_capi_sys_apidll
	Method class to access API Dll for inverse kinematics, robot trajectory planner and robot dynamics. 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 graphical update of the 3D scene, refreshing dialogs, etc.

Member Function Documentation

grf_update_export()

static ER_DllExport void ER_CAPI_SYS_VIEW::grf_update_export ( int  chk = 0 )

static

Forces a graphical update of the 3D Scene
This grahpical update includes a mathematical update for all devices, see ER_CAPI_DEVICES::data_update_all_devices()
If paramter chk is set, travel ranges, speeds, accelerations, cartesian space and collision are checked
Remarks
This function has no effect if the simulation is already running.

Parameters

[in]

chk

enables checking if set

inq_cell_info()

static ER_DllExport char* ER_CAPI_SYS_VIEW::inq_cell_info ( void  )

static

Cell Information
The cell information will be displayed in the lower left corner of the opengl scene
Use inq_cell_info_show() to enable or disable the cell information.

Return values

pointer

cell information

inq_cell_info_show()

static ER_DllExport int* ER_CAPI_SYS_VIEW::inq_cell_info_show ( void  )

static

Enable or disable the cell information
Use inq_cell_info() to set cell information.

Return values

0	- Disable Cell Information
1	- Enable Cell Information

inq_ergl_material_light()

static ER_DllExport float* ER_CAPI_SYS_VIEW::inq_ergl_material_light ( int  ergl_param = ERGL_UNDEF, int  ergl_mode = ERGL_MODE_INQ  )

static

Request OpenGL material or light attributes
Remarks
Parameter ergl_param defines the requested value
Use parameter ergl_mode to get the address ERGL_MODE_INQ or to reset ERGL_MODE_RESET or to transfer the attributes to OpenGL ERGL_MODE_SET.

// Example:
// Get specular RGB componentes for light source #1
float *p = er_sys_view.inq_ergl_material_light(ERGL_LIGHT_1_SPECULAR, ERGL_MODE_INQ);
// change the RED component within 0 and 1
float *v = &p[0];
 *v += 0.01;
if (*v<0) v*=0;
else if (*v>1) v*=1;
// change some more attributes here .... or reset to original attributes
// er_sys_view.inq_ergl_material_light(ERGL_LIGHT_1_SPECULAR, ERGL_MODE_RESET);
// Finally, transfer modified attributes to OpenGL
er_sys_view.inq_ergl_material_light(ERGL_ALL_ATTRIBUTES, ERGL_MODE_SET);
// make a grafical update to see the results
er_sys_view.grf_update_export();
...

Parameters

[in]	ergl_param	is one of ERGL_MATERIAL_AMBIENT :: ERGL_MATERIAL_DIFFUSE to ERGL_LIGHT_4_EMISSION
[in]	ergl_mode	is one of ERGL_MODE_INQ, ERGL_MODE_RESET , ERGL_MODE_SET

Return values

pointer

to requested value

RefreshTagWindow()

static ER_DllExport int ER_CAPI_SYS_VIEW::RefreshTagWindow ( int  mode )

static

Refresh Tag Window.

Parameters

[in]

mode

1 - UpdatePath, 0 - UpdateTagList + UpdatePath

Return values

0	- Ok
1	- Error

---

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

• ER_CAPI.H