Method class for creating, deleting and manipulating paths. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_TARGETS_PATH:

Static Public Member Functions
static ER_DllExport int	inq_Add_path ()
	Add a new path in loaded workcell, returns the number of pathes . More...

static ER_DllExport int	inq_Get_n_paths ()
	Get number of paths in loaded workcell . More...

static ER_DllExport int	inq_Get_n_tags ()
	Get number of tags in current path. More...

static ER_DllExport int	inq_Get_c_path_idx ()
	Get current path idx [1..n_paths] . More...

static ER_DllExport int	inq_Set_path_idx (int path_idx)
	Set current path idx [1..n_paths]. More...

static ER_DllExport float	inq_Calc_path_length (int path_idx, int tag_idx_strt, int tag_idx_end, int ret_angle=0)
	Calculates the length of a path. More...

static ER_DllExport int	delete_path (int all_pths=0)
	Delete cPath or all Pathes if all_pths=1, see also ER_CAPI_SYS_STATUS::UnloadPath(), ER_CAPI_SYS_STATUS::UnloadPathAll() More...

static ER_DllExport char *	inq_Get_c_path_name ()
	Get current path name. More...

static ER_DllExport char *	inq_Get_c_wobj_name ()
	Get current wobj name. More...

static ER_DllExport float *	inq_Get_c_path_len ()
	Get length of complete path for current selected path. More...

static ER_DllExport float *	inq_Get_c_path_angle_len ()
	Get angle length of complete path for current selected path. More...

static ER_DllExport frame *	inq_Get_c_wobj_frame ()
	Get current wobj location w.r.t. path reference system. More...

static ER_DllExport frame *	inq_Get_c_wobj_frame_strt ()
	Get current start wobj frame w.r.t. path reference system. More...

static ER_DllExport frame *	inq_Get_c_wobj_frame_ref ()
	Get wobj location w.r.t. to world system. More...

static ER_DllExport ER_UID *	inq_Get_c_path_robot_uid ()
	Get unique robot ID, current path belongs to, zero if free. More...

static ER_DllExport int *	inq_Get_c_path_owner_select ()
	Get current path owner selection flag. More...

static ER_DllExport int *	inq_Get_c_path_visible ()
	Get current path visibility. More...

static ER_DllExport int	swap_PathUp (void)
	Swaps Path pointer with the prev Path Changes the path order. More...

static ER_DllExport int	swap_PathDown (void)
	Swaps Path pointer with the next Path Changes the path order. More...

static ER_DllExport void	PathClone (int confirm=0)
	Clone complete Path or selected Tags. More...

static ER_DllExport int	Path_ReAttach_by_name (int path_idx, int new_reference_type, char new_reference_device_name, int new_reference_cad_grp_type=ROBOT_GRP, char new_reference_cad_name=NULL, int new_reference_jnt_idx=0, bool keep_world_position=false)
	Reattach a path to a device, givin by device name Attaches the path given by `path_idx` to a device, given by `new_reference_device_name` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Remarks The device idx is within [1..n_devices]. More...

static ER_DllExport int	Path_ReAttach_by_idx (int path_idx, int new_reference_type, int new_reference_device_idx, int new_reference_cad_grp_type=ROBOT_GRP, char *new_reference_cad_name=NULL, int new_reference_jnt_idx=0, bool keep_world_position=false)
	Reattach a path to a device, givin by device idx Attaches the path given by `path_idx` to a device, given by `new_reference_device_idx` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Remarks The device idx is within [1..n_devices]. More...

static ER_DllExport int	Path_ReAttach_by_uid (int path_idx, int new_reference_type, ER_UID new_reference_device_uid, int new_reference_cad_grp_type=ROBOT_GRP, char *new_reference_cad_name=NULL, int new_reference_jnt_idx=0, bool keep_world_position=false)
	Reattach a path to a device, givin by device unique ID Attaches the path given by `path_idx` to a device, given by `new_reference_device_uid` The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Remarks The device idx is within [1..n_devices]. More...

static ER_DllExport int *	inq_path_ref_sys_type (void)
	Reference type where the path is attached to The reference type (attach location) can be one of the following values. REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP, REF_JNT see inq_path_ref_sys_type_name() More...

static ER_DllExport char *	inq_path_ref_sys_type_name (void)
	The name of reference type where the path is attached to The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP or REF_JNT see inq_path_ref_sys_type() More...

static ER_DllExport int *	inq_path_ref_sys_grp (void)
	Reference group where the path is attached to The reference group depends on the attach location. e.g.: If the cPath is attacehd to another robot, the returned reference group will ROBOT_GRP If the cPath 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_path_ref_sys_grp_uid (void)
	Unique ID of reference device/robot where the path is attached to The Unique ID depends on the attach location. More...

static ER_DllExport char *	inq_path_ref_sys_name (void)
	Reference name of the cPath where the path is attached to The reference name (name of attach location) depends of one of the following values for reference type. REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP, REF_JNT see also inq_path_ref_sys_type(), inq_path_ref_sys_type_name() Remarks If reference type is REF_CAD, the returned name is the name of the geometry. More...

static ER_DllExport int *	inq_path_ref_sys_jnt_idx (void)
	Reference joint idx of the cPath, if the reference type is REF_JNT The index of reference joint is returned For active joints a positive value > 0 is returned For passive joints a negative value < 0 is returned 0 is returned if the cPath is attached to the robot base or if the reference type is not REF_JNT. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_TARGETS
static ER_CAPI_TARGETS_TAG	er_capi_targets_tag
	Method class for manipulation of tags and access tag attributes. More...

static ER_CAPI_TARGETS_PATH	er_capi_targets_path
	Method class for creating, deleting and manipulating paths. 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 creating, deleting and manipulating paths.

Member Function Documentation

◆ delete_path()

static ER_DllExport int ER_CAPI_TARGETS_PATH::delete_path ( int all_pths = 0 )

static

Delete cPath or all Pathes if all_pths=1, see also ER_CAPI_SYS_STATUS::UnloadPath(), ER_CAPI_SYS_STATUS::UnloadPathAll()

Parameters

[in] all_pths 1 will delete all pathes

Return values

0	- OK
1	- Error

◆ inq_Add_path()

static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Add_path ( )

static

Add a new path in loaded workcell, returns the number of pathes
.

Return values

number of loaded paths in loaded work cell

◆ inq_Calc_path_length()

static ER_DllExport float ER_CAPI_TARGETS_PATH::inq_Calc_path_length	(	int	path_idx,
		int	tag_idx_strt,
		int	tag_idx_end,
		int	ret_angle = `0`
	)

static

Calculates the length of a path.

Parameters

[in]	path_idx	idx of path [1..
[in]	tag_idx_strt	idx of first tag [1..
[in]	tag_idx_end	idx of last tag [1..
[in]	ret_angle	0-position length, 1-angle length

Return values

length of a path

◆ inq_Get_c_path_angle_len()

static ER_DllExport float* ER_CAPI_TARGETS_PATH::inq_Get_c_path_angle_len ( )

static

Get angle length of complete path for current selected path.

Return values

angle length of complete path

◆ inq_Get_c_path_idx()

static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_c_path_idx ( )

static

Get current path idx [1..n_paths]
.

Return values

current path idx

◆ inq_Get_c_path_len()

static ER_DllExport float* ER_CAPI_TARGETS_PATH::inq_Get_c_path_len ( )

static

Get length of complete path for current selected path.

Return values

length of complete path

◆ inq_Get_c_path_name()

static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_Get_c_path_name ( )

static

Get current path name.

Return values

name	of current path

◆ inq_Get_c_path_owner_select()

static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_Get_c_path_owner_select ( )

static

Get current path owner selection flag.

Return values

1	- owner selected
0	- not owner selected

◆ inq_Get_c_path_robot_uid()

static ER_DllExport ER_UID* ER_CAPI_TARGETS_PATH::inq_Get_c_path_robot_uid ( )

static

Get unique robot ID, current path belongs to, zero if free.

Return values

unique robot ID

◆ inq_Get_c_path_visible()

static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_Get_c_path_visible ( )

static

Get current path visibility.

Return values

path	visibility

◆ inq_Get_c_wobj_frame()

static ER_DllExport frame* ER_CAPI_TARGETS_PATH::inq_Get_c_wobj_frame ( )

static

Get current wobj location w.r.t. path reference system.

Return values

pointer to FRAME

◆ inq_Get_c_wobj_frame_ref()

static ER_DllExport frame* ER_CAPI_TARGETS_PATH::inq_Get_c_wobj_frame_ref ( )

static

Get wobj location w.r.t. to world system.

Return values

pointer to FRAME

◆ inq_Get_c_wobj_frame_strt()

static ER_DllExport frame* ER_CAPI_TARGETS_PATH::inq_Get_c_wobj_frame_strt ( )

static

Get current start wobj frame w.r.t. path reference system.

Return values

pointer to FRAME

◆ inq_Get_c_wobj_name()

static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_Get_c_wobj_name ( )

static

Get current wobj name.

Return values

name	of current wobj

◆ inq_Get_n_paths()

static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_n_paths ( )

static

Get number of paths in loaded workcell
.

Return values

number of loaded paths in loaded work cell

◆ inq_Get_n_tags()

static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_n_tags ( )

static

Get number of tags in current path.

Return values

number of tags in current path

◆ inq_path_ref_sys_grp()

static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_grp ( void )

static

Reference group where the path is attached to
The reference group depends on the attach location.
e.g.: If the cPath is attacehd to another robot, the returned reference group will ROBOT_GRP
If the cPath 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

pointer to reference group

◆ inq_path_ref_sys_grp_uid()

static ER_DllExport ER_UID* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_grp_uid ( void )

static

Unique ID of reference device/robot where the path is attached to
The Unique ID depends on the attach location.

Return values

>	0 Unique ID
0	cPath is not attached, has no reference

◆ inq_path_ref_sys_jnt_idx()

static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_jnt_idx ( void )

static

Reference joint idx of the cPath, if the reference type is REF_JNT
The index of reference joint is returned
For active joints a positive value > 0 is returned
For passive joints a negative value < 0 is returned
0 is returned if the cPath is attached to the robot base or if the reference type is not REF_JNT.

Return values

joint reference index

◆ inq_path_ref_sys_name()

static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_name ( void )

static

Reference name of the cPath where the path is attached to
The reference name (name of attach location) depends of one of the following values for reference type.
REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP, REF_JNT
see also inq_path_ref_sys_type(), inq_path_ref_sys_type_name() Remarks
If reference type is REF_CAD, the returned name is the name of the geometry.

Return values

pointer to char of reference name

◆ inq_path_ref_sys_type()

static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_type ( void )

static

Reference type where the path is attached to
The reference type (attach location) can be one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP, REF_JNT
see inq_path_ref_sys_type_name()

Return values

pointer to reference type

◆ inq_path_ref_sys_type_name()

static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_path_ref_sys_type_name ( void )

static

The name of reference type where the path is attached to
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_CAD, REF_TIP or REF_JNT
see inq_path_ref_sys_type()

Return values

pointer to reference type name

◆ inq_Set_path_idx()

static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Set_path_idx ( int path_idx )

static

Set current path idx [1..n_paths].

Parameters

[in] path_idx

Return values

0	- OK
1	- Error

◆ Path_ReAttach_by_idx()

static ER_DllExport int ER_CAPI_TARGETS_PATH::Path_ReAttach_by_idx	(	int	path_idx,
		int	new_reference_type,
		int	new_reference_device_idx,
		int	new_reference_cad_grp_type = `ROBOT_GRP`,
		char *	new_reference_cad_name = `NULL`,
		int	new_reference_jnt_idx = `0`,
		bool	keep_world_position = `false`
	)

static

Reattach a path to a device, givin by device idx
Attaches the path given by path_idx to a device, given by new_reference_device_idx
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Remarks
The device idx is within [1..n_devices].

Parameters

[in]	path_idx	[1..n_pathes]
[in]	new_reference_type	Attach location
[in]	new_reference_device_idx	Idx of reference device idx [1..n_devices]
[in]	new_reference_cad_grp_type	ROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]	new_reference_cad_name	CAD Name of reference device, if new_reference_type is REF_CAD
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Path_ReAttach_by_name()

static ER_DllExport int ER_CAPI_TARGETS_PATH::Path_ReAttach_by_name	(	int	path_idx,
		int	new_reference_type,
		char *	new_reference_device_name,
		int	new_reference_cad_grp_type = `ROBOT_GRP`,
		char *	new_reference_cad_name = `NULL`,
		int	new_reference_jnt_idx = `0`,
		bool	keep_world_position = `false`
	)

static

Reattach a path to a device, givin by device name
Attaches the path given by path_idx to a device, given by new_reference_device_name
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Remarks
The device idx is within [1..n_devices].

Parameters

[in]	path_idx	[1..n_pathes]
[in]	new_reference_type	Attach location
[in]	new_reference_device_name	Name of reference device
[in]	new_reference_cad_grp_type	ROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]	new_reference_cad_name	CAD Name of reference device, if new_reference_type is REF_CAD
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ Path_ReAttach_by_uid()

static ER_DllExport int ER_CAPI_TARGETS_PATH::Path_ReAttach_by_uid	(	int	path_idx,
		int	new_reference_type,
		ER_UID	new_reference_device_uid,
		int	new_reference_cad_grp_type = `ROBOT_GRP`,
		char *	new_reference_cad_name = `NULL`,
		int	new_reference_jnt_idx = `0`,
		bool	keep_world_position = `false`
	)

static

Reattach a path to a device, givin by device unique ID
Attaches the path given by path_idx to a device, given by new_reference_device_uid
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Remarks
The device idx is within [1..n_devices].

Parameters

[in]	path_idx	[1..n_pathes]
[in]	new_reference_type	Attach location
[in]	new_reference_device_uid	Unique ID of reference device
[in]	new_reference_cad_grp_type	ROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]	new_reference_cad_name	CAD Name of reference device, if new_reference_type is REF_CAD
[in]	new_reference_jnt_idx	Joint idx of reference device, if new_reference_type is REF_JNT
[in]	keep_world_position	True will keep the world position of the attached device

Return values

0	- ER_OK
1	- ER_ERROR

◆ PathClone()

static ER_DllExport void ER_CAPI_TARGETS_PATH::PathClone ( int confirm = 0 )

static

Clone complete Path or selected Tags.

Parameters

[in] confirm 0 - suppress message, 1-show message in a dialog to be confirmed

Return values

0	- ER_OK
1	- ER_ERROR

◆ swap_PathDown()

static ER_DllExport int ER_CAPI_TARGETS_PATH::swap_PathDown ( void )

static

Swaps Path pointer with the next Path
Changes the path order.

Return values

0	- ER_OK
1	- ER_ERROR

◆ swap_PathUp()

static ER_DllExport int ER_CAPI_TARGETS_PATH::swap_PathUp ( void )

static

Swaps Path pointer with the prev Path
Changes the path order.

Return values

0	- ER_OK
1	- ER_ERROR

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

ER_CAPI.H

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ delete_path()

◆ inq_Add_path()

◆ inq_Calc_path_length()

◆ inq_Get_c_path_angle_len()

◆ inq_Get_c_path_idx()

◆ inq_Get_c_path_len()

◆ inq_Get_c_path_name()

◆ inq_Get_c_path_owner_select()

◆ inq_Get_c_path_robot_uid()

◆ inq_Get_c_path_visible()

◆ inq_Get_c_wobj_frame()

◆ inq_Get_c_wobj_frame_ref()

◆ inq_Get_c_wobj_frame_strt()

◆ inq_Get_c_wobj_name()

◆ inq_Get_n_paths()

◆ inq_Get_n_tags()

◆ inq_path_ref_sys_grp()

◆ inq_path_ref_sys_grp_uid()

◆ inq_path_ref_sys_jnt_idx()

◆ inq_path_ref_sys_name()

◆ inq_path_ref_sys_type()

◆ inq_path_ref_sys_type_name()

◆ inq_Set_path_idx()

◆ Path_ReAttach_by_idx()

◆ Path_ReAttach_by_name()

◆ Path_ReAttach_by_uid()

◆ PathClone()

◆ swap_PathDown()

◆ swap_PathUp()