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

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

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_USER_IO_CRUISE:
ER_CAPI_USER_IO ER_CAPI

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 rigth, 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 frameGetRotView (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

static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseAuto ( void  )
static

Set Cruise mode to Auto.

Return values
0- OK
static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisecBody ( void  )
static

Set Cruise mode to cBody.

Return values
0- OK
static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisePanView ( int  dlr,
int  dud 
)
static

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

Parameters
[in]dlrleft or right
[in]dudup or down
Return values
0- OK
static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruisePickedPoint ( void  )
static

Set Cruise mode to picked Point.

Return values
0- OK
static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseRobotBase ( void  )
static

Set Cruise mode to cRobot Base.

Return values
0- OK
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_idxdevice idx for requested device [1.. number of devices[
Return values
0- OK
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
static ER_DllExport int ER_CAPI_USER_IO_CRUISE::CruiseWorld ( void  )
static

Set Cruise mode to World Coorsys.

Return values
0- OK
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
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
Currentmouse mode
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
pointerto view rotation FRAME
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
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
pointerxyz p[DIM] vector w.r.t. world
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
pointerto value
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
pointerto current view idx
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
pointerto value
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
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
previousmouse mode
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
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
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
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
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
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
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
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: