Method class for manipulation of tags and access tag attributes. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_TARGETS_TAG:

Static Public Member Functions
static ER_DllExport int	chk_rob_tag_idx (int idx)
	Check if tag index is valid. More...

static ER_DllExport frame *	inq_rob_tag_T_cRBase_idx (int idx)
	Temporary Tcp location w.r.t to cRobot Base This Tcp location w.r.t to cRobot Base is saved when the cRobot reaches this Tag See inq_rob_tag_q_cR_idx() , inq_rob_tag_uid_cR_idx() More...

static ER_DllExport float *	inq_rob_tag_q_cR_idx (int idx)
	Temporary joint location for cRobot This Joint location is saved when the cRobot reaches this Tag See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_uid_cR_idx() More...

static ER_DllExport ER_UID *	inq_rob_tag_uid_cR_idx (int idx)
	Temporary unique robot id of cRobot This Unique robot ID of the cRobot is saved when the cRobot reaches this Tag See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_q_cR_idx() More...

static ER_DllExport char *	inq_rob_tag_prefix_idx (int idx)
	Tag_attributes, get tag prefix The complete tag name is tagprefix + tagname See inq_rob_tag_name_idx(), inq_rob_tag_prefix_name_idx() More...

static ER_DllExport char *	inq_rob_tag_name_idx (int idx)
	Tag_attributes, get tag name (=postfix) The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx(), inq_rob_tag_prefix_name_idx() More...

static ER_DllExport char *	inq_rob_tag_prefix_name_idx (int idx)
	Tag_attributes, complete tag name The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx() , inq_rob_tag_name_idx() More...

static ER_DllExport int *	inq_rob_tag_motype_idx (int idx)
	Tag_attributes, motion type. More...

static ER_DllExport float *	inq_rob_tag_speed_ptp_idx (int idx)
	Tag_attributes, ptp speed, 0-def, [rad/s] Remarks use inq_rob_tag_speed_ptp_ov_idx() instead. More...

static ER_DllExport float *	inq_rob_tag_speed_cp_idx (int idx)
	Tag_attributes, cp speed, 0-def, [m/s] . More...

static ER_DllExport float *	inq_rob_tag_speed_ori_idx (int idx)
	Tag_attributes, ori speed, 0-def, [rad/s]. More...

static ER_DllExport int *	inq_rob_tag_confdata_idx (int idx)
	Tag_attributes, robot configuration, 0-def. More...

static ER_DllExport float *	inq_rob_tag_zone_idx (int idx)
	Tag_attributes, programmed zone value [mm,%]. More...

static ER_DllExport float *	inq_rob_tag_accel_ptp_idx (int idx)
	Tag_attributes, ptp acceleration, 0-def, [rad/s^2] Remarks use inq_rob_tag_accel_ptp_ov_idx() instead. More...

static ER_DllExport float *	inq_rob_tag_accel_cp_idx (int idx)
	Tag_attributes, cp acceleration, 0-def, [m/s^2]. More...

static ER_DllExport float *	inq_rob_tag_accel_ori_idx (int idx)
	Tag_attributes, orientation acceleration, 0-def, [rad/s^2]. More...

static ER_DllExport float *	inq_rob_tag_ov_pro_idx (int idx)
	Tag_attributes, programmed override, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_speed_ptp_ov_idx (int idx)
	Tag_attributes, ptp override speed, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_speed_cp_ov_idx (int idx)
	Tag_attributes, cp override speed, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_speed_ori_ov_idx (int idx)
	Tag_attributes, ori override speed, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_accel_ptp_ov_idx (int idx)
	Tag_attributes, ptp override accel, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_accel_cp_ov_idx (int idx)
	Tag_attributes, cp override accel, 0-def [0-200%]. More...

static ER_DllExport float *	inq_rob_tag_accel_ori_ov_idx (int idx)
	Tag_attributes, ori override accel, 0-def [0-200%]. More...

static ER_DllExport int *	inq_rob_tag_auto_accel_idx (int idx)
	Tag_attributes, auto acceleration, 0-def If auto accel is enabled for a tag, the accelerations for ptp and cp mmoves are calculated automatically depending on programmed speed. More...

static ER_DllExport float *	inq_rob_tag_acc_set_acc_idx (int idx)
	Tag_attributes, AccSet Acc, 100-def [20-100%] Set AccSet Acc to 20% for smooth acceleration Set AccSet Acc to 100% for max. acceleration See inq_rob_tag_acc_set_ramp_idx() More...

static ER_DllExport float *	inq_rob_tag_acc_set_ramp_idx (int idx)
	Tag_attributes, AccSet Ramp, 100-def [20-100%] Set AccSet Ramp to 20% for smooth acceleration Set AccSet Ramp to 100% for max. acceleration See inq_rob_tag_acc_set_acc_idx() More...

static ER_DllExport int *	inq_rob_tag_no_decel_idx (int idx)
	Tag_attributes, No decelaration at target If deceleration flag is 0, the motion decelerates at the target, this is default If deceleration flag is 1, the motion will not decelerate at the target. More...

static ER_DllExport int *	inq_rob_tag_leading_pos_idx (int idx)
	tag_attributes, Leading behavior for CP motion 2 - VAR the slowest is dominant, default 1 - Pos the position is dominant 0 - Ori the orientation is dominant More...

static ER_DllExport float *	inq_rob_tag_lead_time_idx (int idx)
	tag_attributes, wait time before move begins, 0-def [s] More...

static ER_DllExport float *	inq_rob_tag_lag_time_idx (int idx)
	tag_attributes, wait time when targte reached, 0-def [s] More...

static ER_DllExport int *	inq_rob_tag_lin_ori_mode_idx (int idx)
	tag_attributes, orientation interpolation mode for LIN motion type default is 4 - LIN_QUATERNION More...

static ER_DllExport int *	inq_rob_tag_circ_ori_mode_idx (int idx)
	tag_attributes, orientation interpolation mode for CIRC motion type default is 5 - CIRC_QUATERNION More...

static ER_DllExport float *	inq_rob_tag_speed_ptp_ax_ov_idx (int idx)
	tag_attributes, ptp_ax override speed 0-def [0-200%] More...

static ER_DllExport float *	inq_rob_tag_accel_ptp_ax_ov_idx (int idx)
	tag_attributes, ptp_ax override accel 0-def [0-200%] More...

static ER_DllExport int *	inq_rob_tag_turn_use_idx (int idx)
	tag_attributes, turn flag, 0-do not use turn values (def), 1-use turns If use turns is anabled, defined turn attributes are considered see inq_rob_tag_turn_ax_idx() More...

static ER_DllExport int *	inq_rob_tag_turn_ax_idx (int idx)
	tag_attributes, turn values depending on current robots turn interval see inq_rob_tag_turn_use_idx() More...

static ER_DllExport char *	inq_rob_tag_user_string_idx (int idx)
	tag_attributes, user defined Tag string To store miscellaneous user data More...

static ER_DllExport int *	inq_rob_tag_color_idx (int idx)
	tag_attributes, color of tag Use inq_rob_tag_color_set_idx() to change the color More...

static ER_DllExport int	inq_rob_tag_color_set_idx (int idx, int color)
	tag_attributes, set color of tag More...

static ER_DllExport float *	inq_rob_tag_length_idx (int idx)
	tag_attributes, tag length [m] Tag size for visualization More...

static ER_DllExport int *	inq_rob_tag_render_idx (int idx)
	tag_attributes, tag render Tag render is one of COORSYS_RENDER_STYLE_COORSYS_XYZ=0, COORSYS_RENDER_STYLE_APPROACH_Zx=1, COORSYS_RENDER_STYLE_APPROACH_Xy=2, COORSYS_RENDER_STYLE_APPROACH_Yz=3, COORSYS_RENDER_STYLE_POINT=4, COORSYS_RENDER_STYLE_INVISIBLE=5 More...

static ER_DllExport int *	inq_rob_tag_z_buffering_idx (int idx)
	tag_attributes, tag z_buffering Tag z_buffering is one of COORSYS_Z_BUFFERING_OFF, COORSYS_Z_BUFFERING_ON More...

static ER_DllExport frame *	inq_rob_tag_frame_idx (int idx)
	tag_attributes, tag location w.r.t. it work object frame see More...

static ER_DllExport frame *	inq_rob_tag_frame_strt_idx (int idx)
	tag_attributes, tag start location w.r.t. it work object frame A tag start location is the start condition, a tag has when a path or cell is loaded More...

static ER_DllExport int *	inq_rob_tag_n_extax_idx (int idx)
	tag_attributes number of external axis More...

static ER_DllExport float *	inq_rob_tag_extax_idx (int idx)
	tag_attributes external axis value [] See inq_rob_tag_n_extax_idx(), inq_rob_tag_extaxjnt_idx(), inq_rob_tag_extaxtype_idx() More...

static ER_DllExport int *	inq_rob_tag_extaxjnt_idx (int idx)
	tag_attributes, idx of controlled axis [] Contains the idx of the controlled joint of the cRobot See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxtype_idx(), More...

static ER_DllExport char *	inq_rob_tag_extaxtype_idx (int idx)
	tag_attributes, type 'R' or 'T' of controlled joint [] Contains the type of the controlled joint of the cRobot See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxjnt_idx() More...

static ER_DllExport int	delete_cTag ()
	Deletes cTag see also ER_CAPI_SYS_STATUS::UnloadTag() More...

static ER_DllExport int	inq_Get_c_tag_idx ()
	Get current tag idx [1..n_tags] in current path. More...

static ER_DllExport int	inq_Set_tag_idx (int tag_idx)
	Set current tag idx [1..n_tags] in current path. More...

static ER_DllExport char *	inq_Get_c_tag_name ()
	Get current tag name = prefix + postfix. More...

static ER_DllExport frame *	inq_Get_c_tag_frame ()
	Get current tag location w.r.t. wobj frame location. More...

static ER_DllExport frame *	inq_Get_c_tag_frame_strt ()
	Get current start tag location w.r.t. wobj frame location. More...

static ER_DllExport int	swap_TagUp (void)
	Swaps Tag pointer with the prev Tag. More...

static ER_DllExport int	swap_TagDown (void)
	Swaps Tag pointer with the next Tag . More...

static ER_DllExport int	copy_current_tag_data (void)
	Copies cTag to tag_copy and to show tag 'c_tag' This method copies all cTag data to the "copyTag" The contend of the "copyTag" is used when creating new Tags. More...

static ER_DllExport int	NewTagOnTcp (void)
	Creates a new Tag in current path at Tcp of cRobot. More...

static ER_DllExport int	cTagClone (int create_new=0)
	Clones current Tag in current path or creates new one at Tcp of cRobot If parameter `create_new` is 0, the cTag will be cloned. If parameter `create_new` is 1, a new Tag will be created at the robots tcp. Mote: If cPath is empty, a new tag will be created on TCP if `create_new` is 1. More...

static ER_DllExport int	Shift_cTagOnTcp (void)
	Shifts cTag to the Tcp of cRobot The cTag will jump to the cRobot Tcp. More...

static ER_DllExport int	NewTagOnFrame (frame *T)
	Creates a new Tag in current path at location of frame 'T', without grf_update and TagDlg update. More...

static ER_DllExport int	NewTagOnFrame_update (frame *T, int update_mode)
	Creates a new Tag in current path at location of frame 'T' Parameter `is` a bitwise inclusive OR operator (\|) of. More...

static ER_DllExport int	Shift_cTagOnFrame (frame *T)
	Shifts cTag to location of frame 'T'. More...

static ER_DllExport int	NewTagOnPickPoint (int vertices=0)
	Creates a new Tag at current picked location If `vertices` = 1 : keep cOrientation If `vertices` = 0 : use polygon normal for approach direction. More...

static ER_DllExport int	Shift_cTagOnPickPoint (int vertices=0)
	Shifts cTag to the current picked location If `vertices` = 1 : keep cOrientation If `vertices` = 0 : use polygon normal for approach direction. More...

static ER_DllExport void	TagClone (void)
	Multiple clone of current Tag Clone all selected Tags. 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 manipulation of tags and access tag attributes.

Member Function Documentation

◆ chk_rob_tag_idx()

static ER_DllExport int ER_CAPI_TARGETS_TAG::chk_rob_tag_idx ( int idx )

static

Check if tag index is valid.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

0	- OK
1	- tag_idx does not exist

◆ copy_current_tag_data()

static ER_DllExport int ER_CAPI_TARGETS_TAG::copy_current_tag_data ( void )

static

Copies cTag to tag_copy and to show tag 'c_tag'
This method copies all cTag data to the "copyTag"
The contend of the "copyTag" is used when creating new Tags.

Return values

0	- OK
1	- cannot copy

◆ cTagClone()

static ER_DllExport int ER_CAPI_TARGETS_TAG::cTagClone ( int create_new = 0 )

static

Clones current Tag in current path or creates new one at Tcp of cRobot
If parameter create_new is 0, the cTag will be cloned.
If parameter create_new is 1, a new Tag will be created at the robots tcp.
Mote: If cPath is empty, a new tag will be created on TCP if create_new is 1.

Parameters

[in] create_new

Return values

0	- OK
1	- cannot clone tag

◆ delete_cTag()

static ER_DllExport int ER_CAPI_TARGETS_TAG::delete_cTag ( )

static

Deletes cTag
see also ER_CAPI_SYS_STATUS::UnloadTag()

Return values

0	- OK
1	- cannot delete Tag

◆ inq_Get_c_tag_frame()

static ER_DllExport frame* ER_CAPI_TARGETS_TAG::inq_Get_c_tag_frame ( )

static

Get current tag location w.r.t. wobj frame location.

Return values

pointer to FRAME

◆ inq_Get_c_tag_frame_strt()

static ER_DllExport frame* ER_CAPI_TARGETS_TAG::inq_Get_c_tag_frame_strt ( )

static

Get current start tag location w.r.t. wobj frame location.

Return values

pointer to FRAME

◆ inq_Get_c_tag_idx()

static ER_DllExport int ER_CAPI_TARGETS_TAG::inq_Get_c_tag_idx ( )

static

Get current tag idx [1..n_tags] in current path.

Return values

current tag index

◆ inq_Get_c_tag_name()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_Get_c_tag_name ( )

static

Get current tag name = prefix + postfix.

Return values

complete tag name

◆ inq_rob_tag_acc_set_acc_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_acc_set_acc_idx ( int idx )

static

Tag_attributes, AccSet Acc, 100-def [20-100%]
Set AccSet Acc to 20% for smooth acceleration
Set AccSet Acc to 100% for max. acceleration
See inq_rob_tag_acc_set_ramp_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to AccSet Acc

◆ inq_rob_tag_acc_set_ramp_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_acc_set_ramp_idx ( int idx )

static

Tag_attributes, AccSet Ramp, 100-def [20-100%]
Set AccSet Ramp to 20% for smooth acceleration
Set AccSet Ramp to 100% for max. acceleration
See inq_rob_tag_acc_set_acc_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to AccSet Ramp

◆ inq_rob_tag_accel_cp_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_cp_idx ( int idx )

static

Tag_attributes, cp acceleration, 0-def, [m/s^2].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to accel cp value [m/s^2]

◆ inq_rob_tag_accel_cp_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_cp_ov_idx ( int idx )

static

Tag_attributes, cp override accel, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to cp override accel

◆ inq_rob_tag_accel_ori_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_ori_idx ( int idx )

static

Tag_attributes, orientation acceleration, 0-def, [rad/s^2].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to accel ori value [rad/s^2]

◆ inq_rob_tag_accel_ori_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_ori_ov_idx ( int idx )

static

Tag_attributes, ori override accel, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to ori override accel

◆ inq_rob_tag_accel_ptp_ax_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_ptp_ax_ov_idx ( int idx )

static

tag_attributes, ptp_ax override accel 0-def [0-200%]

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

ptp_ax override accel

◆ inq_rob_tag_accel_ptp_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_ptp_idx ( int idx )

static

Tag_attributes, ptp acceleration, 0-def, [rad/s^2]
Remarks
use inq_rob_tag_accel_ptp_ov_idx() instead.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag accel_ptp value [rad/s^2]

◆ inq_rob_tag_accel_ptp_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_accel_ptp_ov_idx ( int idx )

static

Tag_attributes, ptp override accel, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to ptp override accel

◆ inq_rob_tag_auto_accel_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_auto_accel_idx ( int idx )

static

Tag_attributes, auto acceleration, 0-def
If auto accel is enabled for a tag, the accelerations for ptp and cp mmoves are calculated automatically depending on programmed speed.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to auto acceleration

◆ inq_rob_tag_circ_ori_mode_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_circ_ori_mode_idx ( int idx )

static

tag_attributes, orientation interpolation mode for CIRC motion type
default is 5 - CIRC_QUATERNION

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

0	- CIRC_VARIABLE
1	- CIRC_FIX
2	- CIRC_TANGENTIAL
3	- CIRC_AUX
4	- CIRC_VARIABLE2
5	- CIRC_QUATERNION

◆ inq_rob_tag_color_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_color_idx ( int idx )

static

tag_attributes, color of tag
Use inq_rob_tag_color_set_idx() to change the color

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag color

◆ inq_rob_tag_color_set_idx()

static ER_DllExport int ER_CAPI_TARGETS_TAG::inq_rob_tag_color_set_idx	(	int	idx,
		int	color
	)

static

tag_attributes, set color of tag

int n_tags = er_targets_path.inq_Get_n_tags(); // get number of Tags in cPath
for (int i=1;i<=n_tags;i++)
{
        int *color = er_targets_tag.inq_rob_tag_color_idx(i); // get tag color address
        er_targets_tag.inq_rob_tag_color_set_idx(i,ER_RED);     // set tag color
}

Parameters

[in]	idx	Tag index, first tag has idx = 1
[in]	color	New tag color

Return values

0	- OK
1	- Error

◆ inq_rob_tag_confdata_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_confdata_idx ( int idx )

static

Tag_attributes, robot configuration, 0-def.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to robot configuration

◆ inq_rob_tag_extax_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_extax_idx ( int idx )

static

tag_attributes external axis value []
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extaxjnt_idx(), inq_rob_tag_extaxtype_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to external axis data, maximum size is inq_rob_tag_n_extax_idx()

◆ inq_rob_tag_extaxjnt_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_extaxjnt_idx ( int idx )

static

tag_attributes, idx of controlled axis []
Contains the idx of the controlled joint of the cRobot
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxtype_idx(),

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to external joint idx, maximum size is inq_rob_tag_n_extax_idx()

◆ inq_rob_tag_extaxtype_idx()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_rob_tag_extaxtype_idx ( int idx )

static

tag_attributes, type 'R' or 'T' of controlled joint []
Contains the type of the controlled joint of the cRobot
See inq_rob_tag_n_extax_idx(), inq_rob_tag_extax_idx(), inq_rob_tag_extaxjnt_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to type string, maximum string length inq_rob_tag_n_extax_idx()

◆ inq_rob_tag_frame_idx()

static ER_DllExport frame* ER_CAPI_TARGETS_TAG::inq_rob_tag_frame_idx ( int idx )

static

tag_attributes, tag location w.r.t. it work object frame
see

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to FRAME

◆ inq_rob_tag_frame_strt_idx()

static ER_DllExport frame* ER_CAPI_TARGETS_TAG::inq_rob_tag_frame_strt_idx ( int idx )

static

tag_attributes, tag start location w.r.t. it work object frame
A tag start location is the start condition, a tag has when a path or cell is loaded

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to FRAME

◆ inq_rob_tag_lag_time_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_lag_time_idx ( int idx )

static

tag_attributes, wait time when targte reached, 0-def [s]

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to lag time

◆ inq_rob_tag_lead_time_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_lead_time_idx ( int idx )

static

tag_attributes, wait time before move begins, 0-def [s]

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to lead time

◆ inq_rob_tag_leading_pos_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_leading_pos_idx ( int idx )

static

tag_attributes, Leading behavior for CP motion
2 - VAR the slowest is dominant, default
1 - Pos the position is dominant
0 - Ori the orientation is dominant

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to Leading behavior

◆ inq_rob_tag_length_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_length_idx ( int idx )

static

tag_attributes, tag length [m]
Tag size for visualization

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag length

◆ inq_rob_tag_lin_ori_mode_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_lin_ori_mode_idx ( int idx )

static

tag_attributes, orientation interpolation mode for LIN motion type
default is 4 - LIN_QUATERNION

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

0	- LIN_VARIABLE
1	- LIN_FIX
2	- LIN_TANGENTIAL
3	- LIN_AUX
4	- LIN_QUATERNION

◆ inq_rob_tag_motype_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_motype_idx ( int idx )

static

Tag_attributes, motion type.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

0	- TAG_MOTYPE_DEF
1	- TAG_MOTYPE_PTP
2	- TAG_MOTYPE_LIN
3	- TAG_MOTYPE_CIRC
4	- TAG_MOTYPE_VIA
5	- TAG_MOTYPE_SLEW

◆ inq_rob_tag_n_extax_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_n_extax_idx ( int idx )

static

tag_attributes number of external axis

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to number of external axis

◆ inq_rob_tag_name_idx()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_rob_tag_name_idx ( int idx )

static

Tag_attributes, get tag name (=postfix)
The complete tag name is tagprefix + tagname
See inq_rob_tag_prefix_idx(), inq_rob_tag_prefix_name_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

tag name

◆ inq_rob_tag_no_decel_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_no_decel_idx ( int idx )

static

Tag_attributes, No decelaration at target
If deceleration flag is 0, the motion decelerates at the target, this is default
If deceleration flag is 1, the motion will not decelerate at the target.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to no deceleration flag

◆ inq_rob_tag_ov_pro_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_ov_pro_idx ( int idx )

static

Tag_attributes, programmed override, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to programmed override, 0-def [0-200%]

◆ inq_rob_tag_prefix_idx()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_rob_tag_prefix_idx ( int idx )

static

Tag_attributes, get tag prefix
The complete tag name is tagprefix + tagname
See inq_rob_tag_name_idx(), inq_rob_tag_prefix_name_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

tag prefix

◆ inq_rob_tag_prefix_name_idx()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_rob_tag_prefix_name_idx ( int idx )

static

Tag_attributes, complete tag name
The complete tag name is tagprefix + tagname See inq_rob_tag_prefix_idx() , inq_rob_tag_name_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

complete tag name

◆ inq_rob_tag_q_cR_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_q_cR_idx ( int idx )

static

Temporary joint location for cRobot
This Joint location is saved when the cRobot reaches this Tag
See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_uid_cR_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to vector, maximum size KIN_DOFS

◆ inq_rob_tag_render_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_render_idx ( int idx )

static

tag_attributes, tag render
Tag render is one of COORSYS_RENDER_STYLE_COORSYS_XYZ=0, COORSYS_RENDER_STYLE_APPROACH_Zx=1, COORSYS_RENDER_STYLE_APPROACH_Xy=2, COORSYS_RENDER_STYLE_APPROACH_Yz=3, COORSYS_RENDER_STYLE_POINT=4, COORSYS_RENDER_STYLE_INVISIBLE=5

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag render

◆ inq_rob_tag_speed_cp_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_cp_idx ( int idx )

static

Tag_attributes, cp speed, 0-def, [m/s]
.

// Example:
int n_path =  ER_CAPI_TARGETS_PATH::inq_Get_n_paths();  // get number of pathes
int c_path =  er_targets_path.inq_Get_c_path_idx();             // get cPath index
er_user_io_dialog._info_line_msg(0,"n_path %d   c_path %d",n_path,c_path);
int n_tag = er_targets_path.inq_Get_n_tags();                   // get number of Tags in cPath
int c_tag = er_targets_tag.inq_Get_c_tag_idx();                 // get cTag index
er_user_io_dialog._info_line_msg(0,"n_tag %d   c_tag %d",n_tag,c_tag);
int ok;
ok=er_targets_tag.chk_rob_tag_idx(0);                                   // Error, 0 is an invalid tag idx, must be >= 1
er_user_io_dialog._info_line_msg(0,"ok = %d",ok);
ok=chk_rob_tag_idx(1);                                                                  // valid if the cPath contains at least oe Tag
er_user_io_dialog._info_line_msg(0,"ok = %d",ok);
if (n_tag==0)
        return;
char *s;
s = er_targets_tag.inq_Get_c_tag_name();                                // get cTag name
if (s==NULL)
{
        er_user_io_dialog._info_line_msg(0,"s NULL --> return");
        return;
}
er_user_io_dialog._info_line_msg(0,"inq_Get_c_tag_name() = %s",s);
...

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag speed_cp value [m/s]

◆ inq_rob_tag_speed_cp_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_cp_ov_idx ( int idx )

static

Tag_attributes, cp override speed, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to cp override speed

◆ inq_rob_tag_speed_ori_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_ori_idx ( int idx )

static

Tag_attributes, ori speed, 0-def, [rad/s].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag ori speed value [rad/s]

◆ inq_rob_tag_speed_ori_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_ori_ov_idx ( int idx )

static

Tag_attributes, ori override speed, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to ori override speed

◆ inq_rob_tag_speed_ptp_ax_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_ptp_ax_ov_idx ( int idx )

static

tag_attributes, ptp_ax override speed 0-def [0-200%]

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

ptp_ax override speed

◆ inq_rob_tag_speed_ptp_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_ptp_idx ( int idx )

static

Tag_attributes, ptp speed, 0-def, [rad/s]
Remarks
use inq_rob_tag_speed_ptp_ov_idx() instead.

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag speed_ptp value [rad/s]

◆ inq_rob_tag_speed_ptp_ov_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_speed_ptp_ov_idx ( int idx )

static

Tag_attributes, ptp override speed, 0-def [0-200%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to ptp override speed

◆ inq_rob_tag_T_cRBase_idx()

static ER_DllExport frame* ER_CAPI_TARGETS_TAG::inq_rob_tag_T_cRBase_idx ( int idx )

static

Temporary Tcp location w.r.t to cRobot Base
This Tcp location w.r.t to cRobot Base is saved when the cRobot reaches this Tag
See inq_rob_tag_q_cR_idx() , inq_rob_tag_uid_cR_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to FRAME

◆ inq_rob_tag_turn_ax_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_turn_ax_idx ( int idx )

static

tag_attributes, turn values depending on current robots turn interval
see inq_rob_tag_turn_use_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to turn value for each joint

◆ inq_rob_tag_turn_use_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_turn_use_idx ( int idx )

static

tag_attributes, turn flag, 0-do not use turn values (def), 1-use turns
If use turns is anabled, defined turn attributes are considered
see inq_rob_tag_turn_ax_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

0	- Do not use turn values (def)
1	- Use turns

◆ inq_rob_tag_uid_cR_idx()

static ER_DllExport ER_UID* ER_CAPI_TARGETS_TAG::inq_rob_tag_uid_cR_idx ( int idx )

static

Temporary unique robot id of cRobot
This Unique robot ID of the cRobot is saved when the cRobot reaches this Tag
See inq_rob_tag_T_cRBase_idx() , inq_rob_tag_q_cR_idx()

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to unique robot id

◆ inq_rob_tag_user_string_idx()

static ER_DllExport char* ER_CAPI_TARGETS_TAG::inq_rob_tag_user_string_idx ( int idx )

static

tag_attributes, user defined Tag string
To store miscellaneous user data

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to user data

◆ inq_rob_tag_z_buffering_idx()

static ER_DllExport int* ER_CAPI_TARGETS_TAG::inq_rob_tag_z_buffering_idx ( int idx )

static

tag_attributes, tag z_buffering
Tag z_buffering is one of COORSYS_Z_BUFFERING_OFF, COORSYS_Z_BUFFERING_ON

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to tag z_buffering

◆ inq_rob_tag_zone_idx()

static ER_DllExport float* ER_CAPI_TARGETS_TAG::inq_rob_tag_zone_idx ( int idx )

static

Tag_attributes, programmed zone value [mm,%].

Parameters

[in] idx Tag index, first tag has idx = 1

Return values

pointer to zone value

◆ inq_Set_tag_idx()

static ER_DllExport int ER_CAPI_TARGETS_TAG::inq_Set_tag_idx ( int tag_idx )

static

Set current tag idx [1..n_tags] in current path.

Parameters

[in] tag_idx Tag index, first tag has idx = 1

Return values

0	- OK
1	- invalid tag index

◆ NewTagOnFrame()

static ER_DllExport int ER_CAPI_TARGETS_TAG::NewTagOnFrame ( frame * T )

static

Creates a new Tag in current path at location of frame 'T',
without grf_update and TagDlg update.

Parameters

[in] T location w.r.t. work object, FRAME

Return values

0	- OK
1	- cannot create new tag

◆ NewTagOnFrame_update()

static ER_DllExport int ER_CAPI_TARGETS_TAG::NewTagOnFrame_update	(	frame *	T,
		int	update_mode
	)

static

Creates a new Tag in current path at location of frame 'T'
Parameter is a bitwise inclusive OR operator (|) of.

0x1 : updates 3D-Scenario
0x2 : updates TagWindow
Parameters

[in] T location w.r.t. work object, FRAME

[in] update_mode - updates 3D-Scenario and TagWindow

Return values

0 - OK

1 - cannot create new tag

◆ NewTagOnPickPoint()

static ER_DllExport int ER_CAPI_TARGETS_TAG::NewTagOnPickPoint ( int vertices = 0 )

static

Creates a new Tag at current picked location
If vertices = 1 : keep cOrientation
If vertices = 0 : use polygon normal for approach direction.

Parameters

[in] vertices

Return values

0	- OK
1	- cannot create new tag

◆ NewTagOnTcp()

static ER_DllExport int ER_CAPI_TARGETS_TAG::NewTagOnTcp ( void )

static

Creates a new Tag in current path at Tcp of cRobot.

Return values

0	- OK
1	- cannot create a new Tag

◆ Shift_cTagOnFrame()

static ER_DllExport int ER_CAPI_TARGETS_TAG::Shift_cTagOnFrame ( frame * T )

static

Shifts cTag to location of frame 'T'.

Parameters

[in] T location w.r.t. work object, FRAME

Return values

0	- OK
1	- cannot shift tag

◆ Shift_cTagOnPickPoint()

static ER_DllExport int ER_CAPI_TARGETS_TAG::Shift_cTagOnPickPoint ( int vertices = 0 )

static

Shifts cTag to the current picked location
If vertices = 1 : keep cOrientation
If vertices = 0 : use polygon normal for approach direction.

Parameters

[in] vertices

Return values

0	- OK
1	- cannot shift cTag

◆ Shift_cTagOnTcp()

static ER_DllExport int ER_CAPI_TARGETS_TAG::Shift_cTagOnTcp ( void )

static

Shifts cTag to the Tcp of cRobot
The cTag will jump to the cRobot Tcp.

Return values

0	- OK
1	- cannot shift tag

◆ swap_TagDown()

static ER_DllExport int ER_CAPI_TARGETS_TAG::swap_TagDown ( void )

static

Swaps Tag pointer with the next Tag
.

Return values

0	- OK
1	- cannot swap tag

◆ swap_TagUp()

static ER_DllExport int ER_CAPI_TARGETS_TAG::swap_TagUp ( void )

static

Swaps Tag pointer with the prev Tag.

Return values

0	- OK
1	- cannot swap tag

◆ TagClone()

static ER_DllExport void ER_CAPI_TARGETS_TAG::TagClone ( void )

static

Multiple clone of current Tag
Clone all selected Tags.

Return values

void

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

ER_CAPI.H

[in]	T	location w.r.t. work object, FRAME
[in]	update_mode	- updates 3D-Scenario and TagWindow

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ chk_rob_tag_idx()

◆ copy_current_tag_data()

◆ cTagClone()

◆ delete_cTag()

◆ inq_Get_c_tag_frame()

◆ inq_Get_c_tag_frame_strt()

◆ inq_Get_c_tag_idx()

◆ inq_Get_c_tag_name()

◆ inq_rob_tag_acc_set_acc_idx()

◆ inq_rob_tag_acc_set_ramp_idx()

◆ inq_rob_tag_accel_cp_idx()

◆ inq_rob_tag_accel_cp_ov_idx()

◆ inq_rob_tag_accel_ori_idx()

◆ inq_rob_tag_accel_ori_ov_idx()

◆ inq_rob_tag_accel_ptp_ax_ov_idx()

◆ inq_rob_tag_accel_ptp_idx()

◆ inq_rob_tag_accel_ptp_ov_idx()

◆ inq_rob_tag_auto_accel_idx()

◆ inq_rob_tag_circ_ori_mode_idx()

◆ inq_rob_tag_color_idx()

◆ inq_rob_tag_color_set_idx()

◆ inq_rob_tag_confdata_idx()

◆ inq_rob_tag_extax_idx()

◆ inq_rob_tag_extaxjnt_idx()

◆ inq_rob_tag_extaxtype_idx()

◆ inq_rob_tag_frame_idx()

◆ inq_rob_tag_frame_strt_idx()

◆ inq_rob_tag_lag_time_idx()

◆ inq_rob_tag_lead_time_idx()

◆ inq_rob_tag_leading_pos_idx()

◆ inq_rob_tag_length_idx()

◆ inq_rob_tag_lin_ori_mode_idx()

◆ inq_rob_tag_motype_idx()

◆ inq_rob_tag_n_extax_idx()

◆ inq_rob_tag_name_idx()

◆ inq_rob_tag_no_decel_idx()

◆ inq_rob_tag_ov_pro_idx()

◆ inq_rob_tag_prefix_idx()

◆ inq_rob_tag_prefix_name_idx()

◆ inq_rob_tag_q_cR_idx()

◆ inq_rob_tag_render_idx()

◆ inq_rob_tag_speed_cp_idx()

◆ inq_rob_tag_speed_cp_ov_idx()

◆ inq_rob_tag_speed_ori_idx()

◆ inq_rob_tag_speed_ori_ov_idx()

◆ inq_rob_tag_speed_ptp_ax_ov_idx()

◆ inq_rob_tag_speed_ptp_idx()

◆ inq_rob_tag_speed_ptp_ov_idx()

◆ inq_rob_tag_T_cRBase_idx()

◆ inq_rob_tag_turn_ax_idx()

◆ inq_rob_tag_turn_use_idx()

◆ inq_rob_tag_uid_cR_idx()

◆ inq_rob_tag_user_string_idx()

◆ inq_rob_tag_z_buffering_idx()

◆ inq_rob_tag_zone_idx()

◆ inq_Set_tag_idx()

◆ NewTagOnFrame()

◆ NewTagOnFrame_update()

◆ NewTagOnPickPoint()

◆ NewTagOnTcp()

◆ Shift_cTagOnFrame()

◆ Shift_cTagOnPickPoint()

◆ Shift_cTagOnTcp()

◆ swap_TagDown()

◆ swap_TagUp()

◆ TagClone()