EASY-ROB™ Application Programming Interface  v8.008
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Static Public Member Functions | List of all members
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:
ER_CAPI_SYS ER_CAPI

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

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]chkenables checking if set
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
pointercell information
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
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_paramis one of ERGL_MATERIAL_AMBIENT :: ERGL_MATERIAL_DIFFUSE to ERGL_LIGHT_4_EMISSION
[in]ergl_modeis one of ERGL_MODE_INQ, ERGL_MODE_RESET , ERGL_MODE_SET
Return values
pointerto requested value
static ER_DllExport int ER_CAPI_SYS_VIEW::RefreshTagWindow ( int  mode)
static

Refresh Tag Window.

Parameters
[in]mode1 - UpdatePath, 0 - UpdateTagList + UpdatePath
Return values
0- Ok
1- Error

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