Method for collision free path planning. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_AUTOPATH:

Static Public Member Functions
static DLLAPI char *ER_STDCALL	AutoPathVer (void)
	AutoPath Version. More...

static DLLAPI int ER_STDCALL	AutoPathSetMem (AutoPath_ConfigurationSpace *apcs)
	allocate memory for AutoPath_ConfigurationSpace data depending on nConfig see example AutoPathInit() More...

static DLLAPI int ER_STDCALL	AutoPathInit (AutoPath_ConfigurationSpace *apcs)
	Initialize AutoPath Call this functions to setup the autopath configuration space Parameter `apcs` defines the complete configuration for all used devices, such as number of configurations up to AUTOPATH_SDK_KIN_DOFS, device handle for each configuration, device axis index, etc. call AutoPathSetMem() first. More...

static DLLAPI int ER_STDCALL	AutoPathFreeMem (AutoPath_ConfigurationSpace *apcs)
	free memory of AutoPath_ConfigurationSpace data see example AutoPathInit() More...

static DLLAPI int ER_STDCALL	AutoPathTerminate (AutoPath_ConfigurationSpace *apcs)
	Terminate AutoPath call AutoPathFreeMem() first, see example AutoPathInit() More...

static DLLAPI int ER_STDCALL	AutoPath_SetCallback_CheckConstraints (BOOL(ptr_CheckConstraints)(int, void ))
	Defines a callback function to check constraints during AutoPath calculation The callback function is called with two parameters Parameter `action` in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (\|) of AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF, AUTOPATH_SDK_CHK_CONSTRAINT_START, AUTOPATH_SDK_CHK_CONSTRAINT_DEST, AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION, AUTOPATH_SDK_CHK_CONSTRAINT_SWE, AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE Parameter `vapcs` in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_ConfigurationSpace see example AutoPathInit() More...

static DLLAPI int ER_STDCALL	SetPoseStart (double *pose_start)
	Set start configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...

static DLLAPI int ER_STDCALL	SetPoseEnd (double *pose_end)
	Set end configuration Remarks This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints. More...

static DLLAPI int ER_STDCALL	FindPath (void)
	Start motion planner, find a collision free path between start and end pose In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_SDK_STATUS_MP_SUCCESS. More...

static DLLAPI double *ER_STDCALL	GetConfigurationPose (void)
	current configuration pose during FindPath Process return pointer, size nConfig More...

static DLLAPI double *ER_STDCALL	GetStartPose (void)
	Get Start Pose return pointer, size nConfig. More...

static DLLAPI double *ER_STDCALL	GetEndPose (void)
	Get End Pose return pointer, size nConfig. More...

static DLLAPI double *ER_STDCALL	GetAxisConstraintsMin (void)
	Get minimum axis constraints return pointer, size nConfig. More...

static DLLAPI double *ER_STDCALL	GetAxisConstraintsMax (void)
	Get maximum axis constraints return pointer, size nConfig. More...

static DLLAPI int ER_STDCALL	AbortPlanning (void)
	Abort path planning use GetPlanningStatus() More...

static DLLAPI int ER_STDCALL	GetPlanningStatus (void)
	Get path planning status The planning status is one of AUTOPATH_SDK_STATUS_MP_IDLE AUTOPATH_SDK_STATUS_MP_RUNNING. More...

static DLLAPI int ER_STDCALL	GetNumberOfWayPoints (void)
	Get number of calculated way points, including start and end pose call this method after FindPath() succeeded. More...

static DLLAPI int ER_STDCALL	GetWayPointDof (void)
	Get dof of calculated way points. More...

static DLLAPI double *ER_STDCALL	GetWayPoint (int idx)
	Get way point. More...

static DLLAPI int ER_STDCALL	ClearAllWayPoints (void)
	Clear all way points. More...

static DLLAPI int ER_STDCALL	SetAccuracy (UINT accuracy)
	Set accuracy. More...

static DLLAPI int ER_STDCALL	SetAxisConstraints (int axisBit=AUTOPATH_SDK_AXIS_BIT_DOF6, int setting=0, double qConstraintMin=0, double qConstraintMax=0)
	Set axis constraints Parameter `setting` is a bitwise inclusive OR operator (\|) of AUTOPATH_SDK_CONSTRAINT_RESET, AUTOPATH_SDK_CONSTRAINT_MIN, AUTOPATH_SDK_CONSTRAINT_MAX. More...

static DLLAPI int ER_STDCALL	SetAxisPriority (int axisBit, int priority)
	Set axis priority. More...

static DLLAPI int ER_STDCALL	SetAxisEnable (int axisBit, int enable)
	Set axis enable. More...

static DLLAPI int ER_STDCALL	SetParameter (int ap_option, int ap_value)
	Set parameter Paramter `ap_option` is one of AUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More...

static DLLAPI int ER_STDCALL	GetParameter (int ap_option)
	Get parameter Paramter `ap_option` is one of AUTOPATH_SDK_PARAMETER_DYNADJUST AUTOPATH_SDK_PARAMETER_ALGORITHM AUTOPATH_SDK_PARAMETER_NTREES AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION AUTOPATH_SDK_PARAMETER_SEED_VALUE. More...

static DLLAPI int ER_STDCALL	GetResults (int ap_result)
	Get results Paramter `ap_result` is one of AUTOPATH_SDK_RESULT_CHECKS AUTOPATH_SDK_RESULT_SECONDS AUTOPATH_SDK_RESULT_CPS AUTOPATH_SDK_RESULT_CFREE AUTOPATH_SDK_RESULT_COBSTACLE AUTOPATH_SDK_RESULT_CDENSITY AUTOPATH_SDK_RESULT_DSECONDS AUTOPATH_SDK_RESULT_SEED_VALUE AUTOPATH_SDK_RESULT_QUALITY_INDEX AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV. More...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI
static ERK_CAPI_ADMIN	erk_capi_admin
	Method class to administrate this Robotics Simulation Kernel. More...

static ERK_CAPI_DEVICES	erk_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution. More...

static ERK_CAPI_SIM	erk_capi_sim
	Method class for simulation settings. More...

static ERK_CAPI_AUTOPATH	erk_capi_autopath
	Method class for collision free path planning. More...

static ERK_CAPI_TARGETS	erk_capi_targets
	Method class for paths and tags. More...

static ERK_CAPI_GEO	erk_capi_geo
	Method class to handle 3D Geometry Data. More...

static ERK_CAPI_SYS	erk_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method for collision free path planning.

Member Function Documentation

◆ AbortPlanning()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AbortPlanning ( void )

static

Abort path planning
use GetPlanningStatus()

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ AutoPath_SetCallback_CheckConstraints()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AutoPath_SetCallback_CheckConstraints ( BOOL(*)(int, void *) ptr_CheckConstraints )

static

Defines a callback function to check constraints during AutoPath calculation
The callback function is called with two parameters
Parameter action in Callback_API_CheckConstraints() is a bitwise inclusive OR operator (|) of
AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF, AUTOPATH_SDK_CHK_CONSTRAINT_START, AUTOPATH_SDK_CHK_CONSTRAINT_DEST, AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION, AUTOPATH_SDK_CHK_CONSTRAINT_SWE, AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE, AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
Parameter vapcs in Callback_API_CheckConstraints() defines the autopath configuration space AutoPath_ConfigurationSpace
see example AutoPathInit()

// Example:
// Callback function
static BOOL Callback_API_CheckConstraints_apcs(int action, void*vapcs)
// Return
//      TRUE    - constraints  
//      FALSE   - constraints fulfilled 
{
        AutoPath_ConfigurationSpace *apcs = (AutoPath_ConfigurationSpace *)vapcs;
        BOOL do_chk=FALSE;
        switch (action) {
        case AUTOPATH_SDK_CHK_CONSTRAINT_START: // SetPoseStart()
        case AUTOPATH_SDK_CHK_CONSTRAINT_DEST:  // SetPoseEnd()
        case AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION:
        case AUTOPATH_SDK_CHK_CONSTRAINT_SWE:
        case AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE:
        case AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE:
                do_chk=TRUE;
                break;
        case AUTOPATH_SDK_STATUS_MP_SUCCESS:
                // target reached
                break;
        }
        ...
        if (do_chk)
        {
        double* currentConfiguration = erk_autopath.GetConfigurationPose();
                result = Check Constraints_in_HostApp(...)
        }
        ...
        return result;  // true - violated, false - ok
}
...
AutoPath_ConfigurationSpace *papcs = new AutoPath_ConfigurationSpace;
...
erk_autopath.AutoPathInit(papcs);
...
// Set callback function pointer
erk_autopath.AutoPath_SetCallback_CheckConstraints(Callback_API_CheckConstraints_apcs);
...
// do autopath calculation ....
erk_autoPath.FindPath();
// get way points
...
// Reset callback function pointer
erk_autopath.AutoPath_SetCallback_CheckConstraints(NULL);
...

Parameters

[in] ptr_CheckConstraints (int) callback function pointer

Return values

0	- Ok
1	- Error

◆ AutoPathFreeMem()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AutoPathFreeMem ( AutoPath_ConfigurationSpace * apcs )

static

free memory of AutoPath_ConfigurationSpace data
see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_ConfigurationSpace

Return values

0	- AUTOPATH_SDK_OK - OK
1	- AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed

◆ AutoPathInit()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AutoPathInit ( AutoPath_ConfigurationSpace * apcs )

static

Initialize AutoPath
Call this functions to setup the autopath configuration space
Parameter apcs defines the complete configuration for all used devices, such as
number of configurations up to AUTOPATH_SDK_KIN_DOFS, device handle for each configuration, device axis index, etc.
call AutoPathSetMem() first.

// Example:
int nConfig = 6;
AutoPath_ConfigurationSpace *papcs = new AutoPath_ConfigurationSpace;
papcs->size = sizeof(AutoPath_ConfigurationSpace);
papcs->initialized              = 0;
papcs->nConfig          = nConfig;
papcs->deviceHandle             = NULL;
papcs->deviceAxisIdx    = NULL;
papcs->AxisEnable               = NULL;
papcs->AxisPriority             = NULL;
papcs->AxisRotTrans             = NULL;
papcs->AxisType                 = NULL;
papcs->ConstraintMin    = NULL;
papcs->ConstraintMax    = NULL;
papcs->SpeedWeight              = NULL;
papcs->DistanceWeight   = NULL;
papcs->UsrData                  = NULL;
...
erk_autopath.AutoPathSetMem(papcs);     // allocate memory depending on nConfig
...
// set AutoPath_ConfigurationSpace data for each configuration
for (int i=0;i<papcs->nConfig;++i)
{
        papcs->deviceHandle[i]  = er_hnd[i];
        papcs->deviceAxisIdx[i] = i;
        papcs->AxisEnable[i]    = 1;
        papcs->AxisPriority[i]  = 50;
        papcs->AxisRotTrans[i]  = ... ? AUTOPATH_SDK_AXIS_TRANS : AUTOPATH_SDK_AXIS_ROT;
        papcs->AxisType[i]              = AUTOPATH_SDK_AXIS_TYPE_ROBOT; // Robot
        papcs->ConstraintMin[i] = ...;
        papcs->ConstraintMax[i] = ...;
        papcs->SpeedWeight[i]   = 1;
        papcs->DistanceWeight[i]= 1;
}
erk_autopath.AutoPathInit(papcs);       // Initialize AutoPath
...
// Set callback function pointer
erk_autopath.AutoPath_SetCallback_CheckConstraints(Callback_API_CheckConstraints_apcs);
...
// define additional settings
...
// define start and destination 
// -> SetPoseStart(), SetPoseEnd()
// do autopath calculation
// -> FindPath();
// get results
// -> GetNumberOfWayPoints(), GetWayPoint(), GetResults()
...
// Verify results, move along all waypoints
...
// Clear all WayPoints
// -> ClearAllWayPoints()
...
// Reset callback function pointer
erk_autopath.AutoPath_SetCallback_CheckConstraints(NULL);
...
// Terminate AutoPath
erk_autopath.AutoPathFreeMem(papcs); // free memory of AutoPath_ConfigurationSpace data
delete papcs;
papcs= NULL;
erk_autopath.AutoPathTerminate(papcs); // Terminate AutoPath
...

Parameters

[in] apcs autopath configuration space AutoPath_ConfigurationSpace

Return values

0	- AUTOPATH_SDK_OK - OK
1	- AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed
2	- AUTOPATH_SDK_INVALID_LICENSE - Error, AutoPath not licensed

◆ AutoPathSetMem()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AutoPathSetMem ( AutoPath_ConfigurationSpace * apcs )

static

allocate memory for AutoPath_ConfigurationSpace data depending on nConfig
see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_ConfigurationSpace

Return values

0	- AUTOPATH_SDK_OK - OK
1	- AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed

◆ AutoPathTerminate()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::AutoPathTerminate ( AutoPath_ConfigurationSpace * apcs )

static

Terminate AutoPath
call AutoPathFreeMem() first, see example AutoPathInit()

Parameters

[in] apcs autopath configuration space AutoPath_ConfigurationSpace

Return values

0	- AUTOPATH_SDK_OK - OK
1	- AUTOPATH_SDK_ERROR - Error, AutoPath initialization failed

◆ AutoPathVer()

static DLLAPI char* ER_STDCALL ERK_CAPI_AUTOPATH::AutoPathVer ( void )

static

AutoPath Version.

Return values

version AutoPath version number

◆ ClearAllWayPoints()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::ClearAllWayPoints ( void )

static

Clear all way points.

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ FindPath()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::FindPath ( void )

static

Start motion planner, find a collision free path between start and end pose
In each step, the callback function "ptr_CheckConstraints" is called, to check constraints If the target is reached, the callback function is called with action parameter AUTOPATH_SDK_STATUS_MP_SUCCESS.

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ GetAxisConstraintsMax()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetAxisConstraintsMax ( void )

static

Get maximum axis constraints return pointer, size nConfig.

◆ GetAxisConstraintsMin()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetAxisConstraintsMin ( void )

static

Get minimum axis constraints return pointer, size nConfig.

◆ GetConfigurationPose()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetConfigurationPose ( void )

static

current configuration pose during FindPath Process return pointer, size nConfig

◆ GetEndPose()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetEndPose ( void )

static

Get End Pose return pointer, size nConfig.

◆ GetNumberOfWayPoints()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::GetNumberOfWayPoints ( void )

static

Get number of calculated way points, including start and end pose
call this method after FindPath() succeeded.

Return values

number of way points

◆ GetParameter()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::GetParameter ( int ap_option )

static

Get parameter Paramter ap_option is one of
AUTOPATH_SDK_PARAMETER_DYNADJUST
AUTOPATH_SDK_PARAMETER_ALGORITHM
AUTOPATH_SDK_PARAMETER_NTREES
AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
AUTOPATH_SDK_PARAMETER_SEED_VALUE.

Parameters

[in] ap_option - autopath option

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ GetPlanningStatus()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::GetPlanningStatus ( void )

static

Get path planning status
The planning status is one of
AUTOPATH_SDK_STATUS_MP_IDLE
AUTOPATH_SDK_STATUS_MP_RUNNING.

Return values

planning status

◆ GetResults()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::GetResults ( int ap_result )

static

Get results Paramter ap_result is one of
AUTOPATH_SDK_RESULT_CHECKS
AUTOPATH_SDK_RESULT_SECONDS
AUTOPATH_SDK_RESULT_CPS
AUTOPATH_SDK_RESULT_CFREE
AUTOPATH_SDK_RESULT_COBSTACLE
AUTOPATH_SDK_RESULT_CDENSITY
AUTOPATH_SDK_RESULT_DSECONDS
AUTOPATH_SDK_RESULT_SEED_VALUE
AUTOPATH_SDK_RESULT_QUALITY_INDEX
AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV.

// Example:
...
char *ap_result_s[] = {"?","Checks","Seconds","CpS","CFree","CObstacle","CDensity","dSeconds","?","?","?"};
for (int i=AUTOPATH_SDK_RESULT_CHECKS;i<=AUTOPATH_SDK_RESULT_DSECONDS;i++)
{
        int ap_result=i;
        int ap_value = erk_autopath.GetResults(ap_result);
        _info_line_msg(0,"  GetResults(%s) = %d",ap_result_s[ap_result],ap_value);
}
int seed_value = erk_autopath.GetResults(AUTOPATH_SDK_RESULT_SEED_VALUE);       // Random starting seed value to influence behavior
int quality_index = erk_autopath.GetResults(AUTOPATH_SDK_RESULT_QUALITY_INDEX); // Quality Index based on calculated way points
int quality_index_std_dev = erk_autopath.GetResults(AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV); // Quality Index Standard Deviation, based on calculated way points
int thread_exec = erk_autopath.GetParameter(AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION);
_info_line_msg(0,"  Seed_Value = %d  Thread_Exec %s",seed_value,thread_exec?"Yes":"No");
...

Parameters

[in] ap_result - autopath result

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ GetStartPose()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetStartPose ( void )

static

Get Start Pose return pointer, size nConfig.

◆ GetWayPoint()

static DLLAPI double* ER_STDCALL ERK_CAPI_AUTOPATH::GetWayPoint ( int idx )

static

Get way point.

Parameters

[in] idx [0.. number of way points-1]

Return values

pointer

◆ GetWayPointDof()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::GetWayPointDof ( void )

static

Get dof of calculated way points.

Return values

dof	of way points

◆ SetAccuracy()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetAccuracy ( UINT accuracy )

static

Set accuracy.

Parameters

[in] accuracy [1..100]

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetAxisConstraints()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetAxisConstraints	(	int	axisBit = `AUTOPATH_SDK_AXIS_BIT_DOF6`,
		int	setting = `0`,
		double	qConstraintMin = `0`,
		double	qConstraintMax = `0`
	)

static

Set axis constraints
Parameter setting is a bitwise inclusive OR operator (|) of AUTOPATH_SDK_CONSTRAINT_RESET, AUTOPATH_SDK_CONSTRAINT_MIN, AUTOPATH_SDK_CONSTRAINT_MAX.

Parameters

[in]	axisBit	- a bitwise inclusive OR operator (\|) of AUTOPATH_SDK_AXIS_BIT_1 ... AUTOPATH_SDK_AXIS_BIT_24
[in]	setting
[in]	qConstraintMin	- size of nConfig
[in]	qConstraintMax	- size of nConfig

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetAxisEnable()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetAxisEnable	(	int	axisBit,
		int	enable
	)

static

Set axis enable.

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetAxisPriority()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetAxisPriority	(	int	axisBit,
		int	priority
	)

static

Set axis priority.

Parameters

[in]	axisBit
[in]	priority	[1..50..100]

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetParameter()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetParameter	(	int	ap_option,
		int	ap_value
	)

static

Set parameter Paramter ap_option is one of
AUTOPATH_SDK_PARAMETER_DYNADJUST
AUTOPATH_SDK_PARAMETER_ALGORITHM
AUTOPATH_SDK_PARAMETER_NTREES
AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
AUTOPATH_SDK_PARAMETER_SEED_VALUE.

Parameters

[in]	ap_option	- autopath option
[in]	ap_value	- autopath value

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetPoseEnd()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetPoseEnd ( double * pose_end )

static

Set end configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.

Parameters

[in] pose_end pointer to start pose, maximum size AUTOPATH_SDK_KIN_DOFS

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

◆ SetPoseStart()

static DLLAPI int ER_STDCALL ERK_CAPI_AUTOPATH::SetPoseStart ( double * pose_start )

static

Set start configuration
Remarks
This pose must be valid - collision free, based on callback function "ptr_CheckConstraints" to check constraints.

Parameters

[in] pose_start pointer to start pose, maximum size AUTOPATH_SDK_KIN_DOFS

Return values

0	- AUTOPATH_SDK_OK
1	- AUTOPATH_SDK_ERROR

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

erk_capi.h

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AbortPlanning()

◆ AutoPath_SetCallback_CheckConstraints()

◆ AutoPathFreeMem()

◆ AutoPathInit()

◆ AutoPathSetMem()

◆ AutoPathTerminate()

◆ AutoPathVer()

◆ ClearAllWayPoints()

◆ FindPath()

◆ GetAxisConstraintsMax()

◆ GetAxisConstraintsMin()

◆ GetConfigurationPose()

◆ GetEndPose()

◆ GetNumberOfWayPoints()

◆ GetParameter()

◆ GetPlanningStatus()

◆ GetResults()

◆ GetStartPose()

◆ GetWayPoint()

◆ GetWayPointDof()

◆ SetAccuracy()

◆ SetAxisConstraints()

◆ SetAxisEnable()

◆ SetAxisPriority()

◆ SetParameter()

◆ SetPoseEnd()

◆ SetPoseStart()