EASY-ROB™ Application Programming Interface  v8.008
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ER_CAPI_TARGETS_PATH Class Reference

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

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_TARGETS_PATH:
ER_CAPI_TARGETS ER_CAPI

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 frameinq_Get_c_wobj_frame ()
 Get current wobj location w.r.t. path reference system. More...
 
static ER_DllExport frameinq_Get_c_wobj_frame_strt ()
 Get current start wobj frame w.r.t. path reference system. More...
 
static ER_DllExport frameinq_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 number of reference joint is returned
For active joints a positive value > 0 is returnd
For passive joints a negative value < 0 is returnd
0 is return if the cPath is attached to the robot base. 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

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_pths1 will delete all pathes
Return values
0- OK
1- Error
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
numberof loaded paths in loaded work cell
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_idxidx of path [1..
[in]tag_idx_strtidx of first tag [1..
[in]tag_idx_endidx of last tag [1..
[in]ret_angle0-position length, 1-angle length
Return values
lengthof a path
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
anglelength of complete path
static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_c_path_idx ( )
static

Get current path idx [1..n_paths]
.

Return values
currentpath idx
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
lengthof complete path
static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_Get_c_path_name ( )
static

Get current path name.

Return values
nameof current path
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
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
uniquerobot ID
static ER_DllExport int* ER_CAPI_TARGETS_PATH::inq_Get_c_path_visible ( )
static

Get current path visibility.

Return values
pathvisibility
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
pointerto FRAME
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
pointerto FRAME
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
pointerto FRAME
static ER_DllExport char* ER_CAPI_TARGETS_PATH::inq_Get_c_wobj_name ( )
static

Get current wobj name.

Return values
nameof current wobj
static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_n_paths ( )
static

Get number of paths in loaded workcell
.

Return values
numberof loaded paths in loaded work cell
static ER_DllExport int ER_CAPI_TARGETS_PATH::inq_Get_n_tags ( )
static

Get number of tags in current path.

Return values
numberof tags in current path
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
pointerto reference group
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
0cPath is not attached, has no reference
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 number of reference joint is returned
For active joints a positive value > 0 is returnd
For passive joints a negative value < 0 is returnd
0 is return if the cPath is attached to the robot base.

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_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
pointerto char of reference name
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
pointerto reference type
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
pointerto reference type name
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
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_typeAttach location
[in]new_reference_device_idxIdx of reference device idx [1..n_devices]
[in]new_reference_cad_grp_typeROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]new_reference_cad_nameCAD Name of reference device, if new_reference_type is REF_CAD
[in]new_reference_jnt_idxJoint idx of reference device, if new_reference_type is REF_JNT
[in]keep_world_positionTrue will keep the world position of the attached device
Return values
0- ER_OK
1- ER_ERROR
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_typeAttach location
[in]new_reference_device_nameName of reference device
[in]new_reference_cad_grp_typeROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]new_reference_cad_nameCAD Name of reference device, if new_reference_type is REF_CAD
[in]new_reference_jnt_idxJoint idx of reference device, if new_reference_type is REF_JNT
[in]keep_world_positionTrue will keep the world position of the attached device
Return values
0- ER_OK
1- ER_ERROR
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_typeAttach location
[in]new_reference_device_uidUnique ID of reference device
[in]new_reference_cad_grp_typeROBOT_GRP, :: TOOL_GRP or BODY_GRP
[in]new_reference_cad_nameCAD Name of reference device, if new_reference_type is REF_CAD
[in]new_reference_jnt_idxJoint idx of reference device, if new_reference_type is REF_JNT
[in]keep_world_positionTrue will keep the world position of the attached device
Return values
0- ER_OK
1- ER_ERROR
static ER_DllExport void ER_CAPI_TARGETS_PATH::PathClone ( int  confirm = 0)
static

Clone complete Path or selected Tags.

Parameters
[in]confirm0 - suppress message, 1-show message in a dialog to be confirmed
Return values
0- ER_OK
1- ER_ERROR
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
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: