Method class to manipulate the 3D Scene. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_USER_IO_CRUISE:

Static Public Member Functions
static ER_DllExport int	CruiseWorld (void)
	Set Cruise mode to World Coorsys. More...

static ER_DllExport int	CruiseRobotBase (void)
	Set Cruise mode to cRobot Base. More...

static ER_DllExport int	CruiseRobotTcp (int robot_tcp_idx)
	Set Cruise mode to cRobot Tcp. More...

static ER_DllExport int	CruisecBody (void)
	Set Cruise mode to cBody. More...

static ER_DllExport int	CruisePickedPoint (void)
	Set Cruise mode to picked Point. More...

static ER_DllExport int	CruiseAuto (void)
	Set Cruise mode to Auto. More...

static ER_DllExport int	CruiseRotView (int pitch, int yaw, int roll=0)
	Cruise 3D Scene about COI by `pitch` - lateral axis `yaw` - vertical axis, `roll` - longitudinal axis. More...

static ER_DllExport int	CruisePanView (int dlr, int dud)
	Pan 3D Scene by dlr-delta left right, dud-delta up down `dlr` > 0 pan right, < 0 pan left `dud` > 0 pan up, < 0 pan down. More...

static ER_DllExport int	CruiseZoomView (int dzoom)
	Zoom in or our the 3D Scen `dzoom` is > 0 to zoom in, or < 0 to zoom out . More...

static ER_DllExport int	Set_MouseMode (int mouse_mode)
	Sets new mouse mode, return old mouse mode `mouse_mode` is the requested mouse mode, one of the following values MM_CRUISE MM_TCP_JOG_WZKS MM_TCP_JOG_WORLD MM_JNT_JOG MM_ROBBASE MM_BODY MM_BODY_ALL MM_TAG MM_BCKGNDCOLOR MM_FLOORCOLOR MM_TAG_OFFSET MM_TOOL MM_LIGHTPOS MM_NEAR_FAR_PLANE MM_TCP_JOG_BASE. More...

static ER_DllExport int	Get_MouseMode (void)
	Returns current mouse mode The current mouse mode is one of the following values MM_CRUISE MM_TCP_JOG_WZKS MM_TCP_JOG_WORLD MM_JNT_JOG MM_ROBBASE MM_BODY MM_BODY_ALL MM_TAG MM_BCKGNDCOLOR MM_FLOORCOLOR MM_TAG_OFFSET MM_TOOL MM_LIGHTPOS MM_NEAR_FAR_PLANE MM_TCP_JOG_BASE. More...

static ER_DllExport float *	inq_cruise_coi_pos (void)
	COI Center Of Interest w.r.t. WORLD Origin. More...

static ER_DllExport float *	inq_CruiseStep (int rot=0, int reset=0)
	Modifies the Cruise step sensitivity while cruise, pan or zoom the 3D Scene with the mouse `rot` = 0 - translation, 1-rotation [rad] `reset` = 1 - reset to original data (1.0 deg) More...

static ER_DllExport float *	inq_TeachStep (int rot=0, int reset=0)
	Modifies the Teach step sensitivity when moving object with the mouse `rot` = 0 - translation [m], 1-rotation [rad] `reset` = 1 - reset to original data (2 mm or 0.5 deg) More...

static ER_DllExport int	zoom_cTag (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom cTag to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_cBody (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom cBody to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_cBase (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom cBase (current robot base) to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_cTcp (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom cTcp (current robot tcp) to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_cRobot (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom cRobot (current robot base) to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_World (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom complete 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_CadPreview (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom complete 3D Scene in the CadPreview `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	zoom_COI (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Zoom COI ( Center Of Interest) to the center of the 3D Scene `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	initialize_view (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Initialize View `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int	reset_view (int zoom_flag=ZOOM_FLAG_DEFAULT)
	Reset view to loading state `zoom_flag` is a bitwise inclusive OR operator (\|) of ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT. More...

static ER_DllExport int *	inq_cSimView (void)
	Return current simulation "View" number [0.. NUM_SIM_VIEWS-1]. More...

static ER_DllExport frame *	GetRotView (int rot_view_type)
	Return the rotation "View" transformation based on `rot_view_type` Parameter `rot_view_type` is one of ROT_VEW_TYPE_CURRENT, ROT_VEW_TYPE_INIT, ROT_VEW_TYPE_CEL_LOADED, ROT_VEW_TYPE_OPENGL_OFFSET ROT_VEW_TYPE_SIM_1, ROT_VEW_TYPE_SIM_2, ROT_VEW_TYPE_SIM_3, ROT_VEW_TYPE_SIM_4, ROT_VEW_TYPE_CAD_PREVIEW. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_USER_IO
static ER_CAPI_USER_IO_FILE	er_capi_user_io_file
	Method class to load and save work cells-, robots-, tool-files, etc. More...

static ER_CAPI_USER_IO_DIALOG	er_capi_user_io_dialog
	Method class, supplies dialogs, i.e. to enter and show values. More...

static ER_CAPI_USER_IO_PICK	er_capi_user_io_pick
	Method class to "pick" objects such as devices, tags, polygon, vertices, measure distances, ... More...

static ER_CAPI_USER_IO_CRUISE	er_capi_user_io_cruise
	Method class to manipulate the 3D Scene. More...

static ER_CAPI_USER_IO_3DPDF	er_capi_user_io_3dpdf
	Method class for 3D Pdf Export. 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 to manipulate the 3D Scene.

Member Function Documentation

◆ CruiseAuto()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseAuto ( void )

static

Set Cruise mode to Auto.

Return values

0 - OK

◆ CruisecBody()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisecBody ( void )

static

Set Cruise mode to cBody.

Return values

0 - OK

◆ CruisePanView()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisePanView	(	int	dlr,
		int	dud
	)

static

Pan 3D Scene by dlr-delta left right, dud-delta up down
dlr > 0 pan right, < 0 pan left
dud > 0 pan up, < 0 pan down.

Parameters

[in]	dlr	left or right
[in]	dud	up or down

Return values

0 - OK

◆ CruisePickedPoint()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisePickedPoint ( void )

static

Set Cruise mode to picked Point.

Return values

0 - OK

◆ CruiseRobotBase()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseRobotBase ( void )

static

Set Cruise mode to cRobot Base.

Return values

0 - OK

◆ CruiseRobotTcp()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseRobotTcp ( int robot_tcp_idx )

static

Set Cruise mode to cRobot Tcp.

Parameters

[in] robot_tcp_idx device idx for requested device [1.. number of devices[

Return values

0 - OK

◆ CruiseRotView()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseRotView	(	int	pitch,
		int	yaw,
		int	roll = `0`
	)

static

Cruise 3D Scene about COI by
pitch - lateral axis
yaw - vertical axis,
roll - longitudinal axis.

Parameters

[in]	pitch	[-5 -4 ... -1 0 +1 ... +4 +5]
[in]	yaw	[-5 -4 ... -1 0 +1 ... +4 +5]
[in]	roll	[-5 -4 ... -1 0 +1 ... +4 +5]

Return values

0 - OK

◆ CruiseWorld()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseWorld ( void )

static

Set Cruise mode to World Coorsys.

Return values

0 - OK

◆ CruiseZoomView()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseZoomView ( int dzoom )

static

Zoom in or our the 3D Scen
dzoom is > 0 to zoom in, or < 0 to zoom out
.

Parameters

[in] dzoom [-5 -4 ... -1] or [+1 ... +4 +5]

Return values

0 - OK

◆ Get_MouseMode()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::Get_MouseMode ( void )

static

Returns current mouse mode
The current mouse mode is one of the following values
MM_CRUISE
MM_TCP_JOG_WZKS
MM_TCP_JOG_WORLD
MM_JNT_JOG
MM_ROBBASE
MM_BODY
MM_BODY_ALL
MM_TAG
MM_BCKGNDCOLOR
MM_FLOORCOLOR
MM_TAG_OFFSET
MM_TOOL
MM_LIGHTPOS
MM_NEAR_FAR_PLANE
MM_TCP_JOG_BASE.

Return values

Current mouse mode

◆ GetRotView()

static ER_DllExport frame* ER_CAPI_USER_IO_CRUISE::GetRotView ( int rot_view_type )

static

Return the rotation "View" transformation based on rot_view_type
Parameter rot_view_type is one of
ROT_VEW_TYPE_CURRENT, ROT_VEW_TYPE_INIT, ROT_VEW_TYPE_CEL_LOADED, ROT_VEW_TYPE_OPENGL_OFFSET
ROT_VEW_TYPE_SIM_1, ROT_VEW_TYPE_SIM_2, ROT_VEW_TYPE_SIM_3, ROT_VEW_TYPE_SIM_4, ROT_VEW_TYPE_CAD_PREVIEW.

Parameters

[in] rot_view_type

Return values

pointer to view rotation FRAME

◆ initialize_view()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::initialize_view ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Initialize View
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error

◆ inq_cruise_coi_pos()

static ER_DllExport float* ER_CAPI_USER_IO_CRUISE::inq_cruise_coi_pos ( void )

static

COI Center Of Interest w.r.t. WORLD Origin.

Return values

pointer xyz p[DIM] vector w.r.t. world

◆ inq_CruiseStep()

static ER_DllExport float* ER_CAPI_USER_IO_CRUISE::inq_CruiseStep	(	int	rot = `0`,
		int	reset = `0`
	)

static

Modifies the Cruise step sensitivity while cruise, pan or zoom the 3D Scene with the mouse
rot = 0 - translation, 1-rotation [rad]
reset = 1 - reset to original data (1.0 deg)

Parameters

[in]	rot
[in]	reset

Return values

pointer to value

◆ inq_cSimView()

static ER_DllExport int* ER_CAPI_USER_IO_CRUISE::inq_cSimView ( void )

static

Return current simulation "View" number [0.. NUM_SIM_VIEWS-1].

Return values

pointer to current view idx

◆ inq_TeachStep()

static ER_DllExport float* ER_CAPI_USER_IO_CRUISE::inq_TeachStep	(	int	rot = `0`,
		int	reset = `0`
	)

static

Modifies the Teach step sensitivity when moving object with the mouse
rot = 0 - translation [m], 1-rotation [rad]
reset = 1 - reset to original data (2 mm or 0.5 deg)

Parameters

[in]	rot
[in]	reset

Return values

pointer to value

◆ reset_view()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::reset_view ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Reset view to loading state
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error

◆ Set_MouseMode()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::Set_MouseMode ( int mouse_mode )

static

Sets new mouse mode, return old mouse mode
mouse_mode is the requested mouse mode, one of the following values
MM_CRUISE
MM_TCP_JOG_WZKS
MM_TCP_JOG_WORLD
MM_JNT_JOG
MM_ROBBASE
MM_BODY
MM_BODY_ALL
MM_TAG
MM_BCKGNDCOLOR
MM_FLOORCOLOR
MM_TAG_OFFSET
MM_TOOL
MM_LIGHTPOS
MM_NEAR_FAR_PLANE
MM_TCP_JOG_BASE.

Parameters

[in] mouse_mode

Return values

previous mouse mode

◆ zoom_CadPreview()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_CadPreview ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom complete 3D Scene in the CadPreview
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, CadPreview is empty

◆ zoom_cBase()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_cBase ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom cBase (current robot base) to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, no device exist or program currently running

◆ zoom_cBody()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_cBody ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom cBody to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, no body exist or program currently running

◆ zoom_COI()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_COI ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom COI ( Center Of Interest) to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error

◆ zoom_cRobot()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_cRobot ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom cRobot (current robot base) to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, no device exist or program currently running

◆ zoom_cTag()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_cTag ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom cTag to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, no tag exist or program currently running

◆ zoom_cTcp()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_cTcp ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom cTcp (current robot tcp) to the center of the 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, no device exist or program currently running

◆ zoom_World()

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::zoom_World ( int zoom_flag = ZOOM_FLAG_DEFAULT )

static

Zoom complete 3D Scene
zoom_flag is a bitwise inclusive OR operator (|) of
ZOOM_FLAG_FIT_ROT_VIEW, ZOOM_FLAG_SET_COI, ZOOM_FLAG_SET_CM_AUTO, ZOOM_FLAG_GRF_UPDATE
ZOOM_FLAG_VIEW_IPO, ZOOM_FLAG_DEFAULT.

Parameters

[in] zoom_flag

Return values

0	- Ok
1	- Error, 3D scene is empty

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

◆ CruiseAuto()

◆ CruisecBody()

◆ CruisePanView()

◆ CruisePickedPoint()

◆ CruiseRobotBase()

◆ CruiseRobotTcp()

◆ CruiseRotView()

◆ CruiseWorld()

◆ CruiseZoomView()

◆ Get_MouseMode()

◆ GetRotView()

◆ initialize_view()

◆ inq_cruise_coi_pos()

◆ inq_CruiseStep()

◆ inq_cSimView()

◆ inq_TeachStep()

◆ reset_view()

◆ Set_MouseMode()

◆ zoom_CadPreview()

◆ zoom_cBase()

◆ zoom_cBody()

◆ zoom_COI()

◆ zoom_cRobot()

◆ zoom_cTag()

◆ zoom_cTcp()

◆ zoom_World()