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EASY-ROB™ Kernel
v9.304
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EASY-ROB™ Kernel
v9.304
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Method class kinematics and transformations. More...
#include <erk_capi.h>
Static Public Attributes | |
| static ERK_CAPI_ROB_KIN | erk_capi_rob_kin |
| Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system. More... | |
| static ERK_CAPI_ROB_KIN_API | erk_capi_rob_kin_api |
| Method class API for forward- and Inverse kinematics. More... | |
| static ERK_CAPI_ROB_ATRIBUTES | erk_capi_rob_attributes |
| Method class for robot/device attributes, travel ranges, home position, device name, ... More... | |
 Static Public Attributes inherited from ERK_CAPI_DEVICES | |
| static ERK_CAPI_ROB | erk_capi_rob |
| Method class kinematics and transformations. More... | |
| static ERK_CAPI_MOP | erk_capi_mop |
| Method class for motion planning and -execution. More... | |
| static ERK_CAPI_TOOLPATH | erk_capi_toolpath |
| Method class for tool path definition. More... | |
| 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... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from ERK_CAPI_DEVICES | |
| static DLLAPI int ER_STDCALL | erInitKin (ER_HND *er_hnd, Host_HND host_hnd=NULL) |
| Create a unique kinematics handle. Opcode 101, Chapter 3.4.1, Page 3-26, same as erINITIALIZE() Initializes one instance of a robot and creates an unique kinematics handle er_hnd belonging to a robot kinematics.This handles is necessary to access individual data from the robot and to call other functions. Use erLoadKin() to load an EASY-ROB rob file (*.rob) containing a kinematics. More... | |
| static DLLAPI int ER_STDCALL | erUnloadKin (ER_HND *er_hnd) |
| Unload an instance of kinematics of the Kernel. Unloads an instance of kinematics givin by the unique kinematics handle. Unloading a kinematics will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics. The number of loaded kinematics will be decremented. This kinematics handle er_hnd is set to NULL and is not valid after calling this function. More... | |
| static DLLAPI int ER_STDCALL | erConnectPositioner (ER_HND er_hnd, ER_HND er_hnd_connect) |
Connects a positioner kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.Remarks Use erConnectPositionerSetSync() for synchronized motion with a positioner. Use erConnectPositionerGetSync() to receive synchronization status between robot and the connected positioner. More... | |
| static DLLAPI ER_HND ER_STDCALL | erConnectPositionerGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and positioner. See also erConnectPositioner() More... | |
| static DLLAPI int ER_STDCALL | erConnectPositionerSetSync (ER_HND er_hnd, long connect_sync) |
| Set robots synchronization flag for synchronization between robot and positioner. The synchronization flag connect_sync can be one of the following values.1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectPositionerGetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectPositionerGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and positioner. See also erConnectPositionerSetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectConveyor (ER_HND er_hnd, ER_HND er_hnd_connect) |
Connects a conveyor kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.Remarks Use erConnectConveyorSetSync() for synchronized motion with a conveyor. Use erConnectConveyorGetSync() to receive synchronization status between robot and the connected conveyor. More... | |
| static DLLAPI ER_HND ER_STDCALL | erConnectConveyorGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and conveyor. See also erConnectConveyor() More... | |
| static DLLAPI int ER_STDCALL | erConnectConveyorSetSync (ER_HND er_hnd, long connect_sync) |
| Set robots synchronization flag for synchronization between robot and conveyor. The synchronization flag connect_sync can be one of the following values.1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectConveyorGetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectConveyorGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and conveyor. See also erConnectConveyorSetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectTrackMotion (ER_HND er_hnd, ER_HND er_hnd_connect) |
Connects a track motion kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.Remarks Use erConnectTrackMotionSetSync() for synchronized motion with a track motion. Use erConnectTrackMotionGetSync() to receive synchronization status between robot and the connected track motion. More... | |
| static DLLAPI ER_HND ER_STDCALL | erConnectTrackMotionGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and track motion. See also erConnectTrackMotion() More... | |
| static DLLAPI int ER_STDCALL | erConnectTrackMotionSetSync (ER_HND er_hnd, long connect_sync) |
| Set robots synchronization flag for synchronization between robot and track motion. The synchronization flag connect_sync can be one of the following values.1: ER_SYNC_OFF, 2: ER_SYNC_ON, 4: ER_SYNC_CONVEYOR See also erConnectTrackMotionGetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectTrackMotionGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and track motion. See also erConnectTrackMotionSetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectRobot (ER_HND er_hnd, ER_HND er_hnd_connect) |
Connects a slave robot kinematics with handle er_hnd_connect to the robot kinematics with handle er_hnd.Remarks Use erConnectRobotSetSync() for synchronized motion with a slave robot. Use erConnectRobotGetSync() to receive synchronization status between robot and the connected slave robot. More... | |
| static DLLAPI ER_HND ER_STDCALL | erConnectRobotGetHND (ER_HND er_hnd) |
| Get robots connection handle between robot and slave robot. See also erConnectRobot() More... | |
| static DLLAPI int ER_STDCALL | erConnectRobotSetSync (ER_HND er_hnd, long connect_sync) |
| Set robots synchronization flag for synchronization between robot and slave robot. The synchronization flag connect_sync can be one of the following values.1: ER_SYNC_OFF, 2: ER_SYNC_ON See also erConnectRobotGetSync() More... | |
| static DLLAPI int ER_STDCALL | erConnectRobotGetSync (ER_HND er_hnd) |
| Get robots synchronization flag for synchronization between robot and slave robot. See also erConnectRobotSetSync() More... | |
| static DLLAPI int ER_STDCALL | erUnloadTool (ER_HND er_hnd) |
| Unload a kinematics tool. Unloads a kinematics tool givin by the unique kinematics handle. Unloading a kinematics tool will call callback function TerFreeGeometryProc for each geometry belonging to this kinematics tool. Remarks This kinematics handle er_hnd is still valid after calling this function. More... | |
| static DLLAPI int ER_STDCALL | erLoadKin (ER_HND er_hnd, char *fln_rob) |
| Load an EASY-ROB rob file (*.rob) containing a kinematics. Loading a robfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the robfile. In this case the host application has to read or import the geometry and store it inside their own structure. Remarks Get a valid unique kinematics handle with erInitKin() In case the robfile cannot be loaded, the kinematics handle is not valid anymore. Get a new kinematics handle with erInitKin() More... | |
| static DLLAPI int ER_STDCALL | erLoadTool (ER_HND er_hnd, char *fln_tool) |
| Load an EASY-ROB tool file (*.tol) containing tool (tcp) data. Loading a toolfile will call the callback function TerLoadGeometryProc() each time when a geometry-file-name is detected in the toolfile. . More... | |
| static DLLAPI int ER_STDCALL | erGet_n_Kin (ER_HND er_hnd) |
| Get the number of loaded kinematics. More... | |
| static DLLAPI int ER_STDCALL | erGet_n_Kin_IR (ER_HND er_hnd) |
| Get the number of loaded kinematics with more than 3 joints and inverse kinematics. More... | |
| static DLLAPI int ER_STDCALL | erGetName (ER_HND er_hnd, char *name) |
| Get the name of the robot. More... | |
Method class kinematics and transformations.
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Method class for robot/device attributes, travel ranges, home position, device name, ...
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static |
Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system.
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static |
Method class API for forward- and Inverse kinematics.
1.8.15