Method class API for forward- and Inverse kinematics. More...

#include <erk_capi.h>

Inheritance diagram for ERK_CAPI_ROB_KIN_API:

Static Public Member Functions
static DLLAPI int ER_STDCALL	erGetInvKinID (ER_HND er_hnd, long *invkin_id)
	Inverse kinematics ID for cRobot. More...

static DLLAPI int ER_STDCALL	erGetInvKinSubID (ER_HND er_hnd, long *invkinsub_id)
	Inverse kinematics Sub-ID for cRobot. More...

static DLLAPI int ER_STDCALL	erSetJointSolutions (ER_HND er_hnd, double q_solutions, long q_warnings)
	Set all robot joint solutions. The kinematics joint data `q_solutions` are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() Get the number of configurations with erGetNumConfigs() Remarks Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp() More...

static DLLAPI int ER_STDCALL	erSetJointDyn (ER_HND er_hnd, double q_dyn, long jnt_no)
	Set a single actual robot joint data. The kinematics joint data `q_dyn` are in units [m] for prismatic joint type and [rad] for rotational joint type Get the number of active joints with erGet_num_dofs() More...

static DLLAPI int ER_STDCALL	erGetRobotBasetoFirstJoint (ER_HND er_hnd, DFRAME *bT0)
	Robot Base to first joint of kinematics chain. . More...

static DLLAPI int ER_STDCALL	erGetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T_nxt)
	Get kinematics transformation to the next joint for each active joint "Geometric Data to next". Get the number of active joints with erGet_num_dofs() Remarks see erGetRobotBasetoFirstJoint(), erGetJointFrameActiveLast(), erGetJointFramePassiveNext(), erGetJointFramePassiveLast() More...

static DLLAPI int ER_STDCALL	erSetJointFrameActiveNext (ER_HND er_hnd, long active_jnt_no, DFRAME *T_nxt)
	Set kinematics transformation to the next joint for each active joint "Geometric Data to next". Get the number of active joints with erGet_num_dofs() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI int ER_STDCALL	erGetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T_last)
	Get kinematics transformation from last joint for each active joint "Geometric Data from last". Get the number of active joints with erGet_num_dofs() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI int ER_STDCALL	erSetJointFrameActiveLast (ER_HND er_hnd, long active_jnt_no, DFRAME *T_last)
	Set kinematics transformation from last joint for each active joint "Geometric Data from last". Get the number of active joints with erGet_num_dofs() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI int ER_STDCALL	erGetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T_nxt)
	Get kinematics transformation to the next joint for each passive joint "Geometric Data to next". Get the number of passive joints with erGet_num_dofs_passive() More...

static DLLAPI int ER_STDCALL	erSetJointFramePassiveNext (ER_HND er_hnd, long passive_jnt_no, DFRAME *T_nxt)
	Set kinematics transformation to the next joint for each passive joint "Geometric Data to next". Get the number of passive joints with erGet_num_dofs_passive() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI int ER_STDCALL	erGetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T_last)
	Get kinematics transformation from last joint for each passive joint "Geometric Data from last". Get the number of passive joints with erGet_num_dofs_passive() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI int ER_STDCALL	erSetJointFramePassiveLast (ER_HND er_hnd, long passive_jnt_no, DFRAME *T_last)
	Set kinematics transformation from last joint for each passive joint "Geometric Data from last". Set the number of passive joints with erGet_num_dofs_passive() Remarks see example erGetJointFrameActiveNext() More...

static DLLAPI void **ER_STDCALL	erGet_erk_kin_usr_ptr (ER_HND er_hnd)
	Access user pointer for user defined inverse and forward kinematics in EasySimKernel_apikinx64.dll This allows the user to allocate individual memory. The EASY-ROB Kernel administrates this pointer, related to the current device Remarks see erSetJointSolutions() to return the calculated results, joint solution and warning for each solution, depending on the number of robot configuration. More...

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...

Additional Inherited Members
Static Public Attributes inherited from ERK_CAPI_ROB
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...

Detailed Description

Method class API for forward- and Inverse kinematics.

Member Function Documentation

◆ erGet_erk_kin_usr_ptr()

static DLLAPI void** ER_STDCALL ERK_CAPI_ROB_KIN_API::erGet_erk_kin_usr_ptr ( ER_HND er_hnd )

static

Access user pointer for user defined inverse and forward kinematics in EasySimKernel_apikinx64.dll
This allows the user to allocate individual memory.
The EASY-ROB Kernel administrates this pointer, related to the current device
Remarks
see erSetJointSolutions() to return the calculated results, joint solution and warning for each solution, depending on the number of robot configuration.

// Example:
EXPORT_C int inv_erk_kin_user_ext(ER_HND er_hnd, int status, int *pinvkin_id, int *pinvkin_sub_id, DFRAME *bTt)
// see example project "EasySimKernel_apikin.sln" for simple 2 axis scara robot
Parameter status is one of ::ER_APIDLL_CNTRL_INITIALIZE, ::ER_APIDLL_CNTRL_SIM_STEP or ::ER_APIDLL_CNTRL_TERMINATE
Parameter *pinvkin_id and *pinvkin_sub_id are the inverse kinematics ID and Sub-ID fo the robot
Parameter bTt is the cartesian transformation from the robot base to the robot tip
...
switch (*pinvkin_id) {
default:
         *pinvkin_id = 0;
        return INV_WARN_NO_INVKIN;
case 18:
        switch (status) {
        case ER_APIDLL_CNTRL_INITIALIZE: // 1. allocate some user memory
                // alloc user defined class
                void **kin_usr_ptr = erk_rob_kin_api.erGet_erk_kin_usr_ptr(er_hnd);     // access kinematics user pointer
                MY_USR_KIN_CLASS *p = (MY_USR_KIN_CLASS *)*kin_usr_ptr; // cast void pointer to own data type, to access the content
                p = new MY_USR_KIN_CLASS;
                 *kin_usr_ptr = (void *)p; // copy new address
                // do some preparation
                ...
                break;
        case ER_APIDLL_CNTRL_SIM_STEP: // 2. Inverse calculation
                void **kin_usr_ptr = erk_rob_kin_api.erGet_erk_kin_usr_ptr(er_hnd);     // access kinematics user pointer
                MY_USR_KIN_CLASS *p = (MY_USR_KIN_CLASS *)*kin_usr_ptr; // cast void pointer to own data type, to access the content
                if (!p)
                        return INV_WARN_ERROR;
                int warn = p->Scara_Inverse(bTt);       // inverse kinematics calculation
                return warn;
                ...
                break;
        default:
        case ER_APIDLL_CNTRL_TERMINATE: // 3. free user defined class
                void **kin_usr_ptr = erk_rob_kin_api.erGet_erk_kin_usr_ptr(er_hnd);     // access kinematics user pointer
                MY_USR_KIN_CLASS *p = (MY_USR_KIN_CLASS *)*kin_usr_ptr; // cast void pointer to own data type, to access the content
                if (!p)
                        return INV_WARN_ERROR;
                delete p;
                p = NULL;
                 *kin_usr_ptr = (void *)p; // copy new address
                return INV_WARN_OK;
                ...
                break;
        }
        return INV_WARN_OK;     // xy plane Scara
        break;
}
...

Return values

pointer to user defined memory

◆ erGetInvKinID()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetInvKinID	(	ER_HND	er_hnd,
		long *	invkin_id
	)

static

Inverse kinematics ID for cRobot.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	invkin_id	inverse kinematics ID

Return values

0	- OK
1	- Error, invalid handle

◆ erGetInvKinSubID()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetInvKinSubID	(	ER_HND	er_hnd,
		long *	invkinsub_id
	)

static

Inverse kinematics Sub-ID for cRobot.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	invkinsub_id	inverse kinematics Sub-ID

Return values

0	- OK
1	- Error, invalid handle

◆ erGetJointFrameActiveLast()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetJointFrameActiveLast	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T_last
	)

static

Get kinematics transformation from last joint for each active joint "Geometric Data from last".
Get the number of active joints with erGet_num_dofs()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number[1..number of active joints], max active_jnt_no is::ER_KIN_DOFS
[out]	T_last	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erGetJointFrameActiveNext()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetJointFrameActiveNext	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T_nxt
	)

static

Get kinematics transformation to the next joint for each active joint "Geometric Data to next".
Get the number of active joints with erGet_num_dofs()
Remarks
see erGetRobotBasetoFirstJoint(), erGetJointFrameActiveLast(), erGetJointFramePassiveNext(), erGetJointFramePassiveLast()

// Example:
DFRAME bT0
erk_rob_kin_api.erGetRobotBasetoFirstJoint(er_hnd, &bT0);       // Robot Base to first joint of kinematics chain
// active joints
long n_dof_active = erk_rob_kin.erGet_num_dofs(er_hnd);         // Get number of active robot joints
for (int ii = 0; ii <= n_dof_active; ++ii)
{
        if (ii == 0)
        {
                DFRAME iTb, T_last, T_nxt;
                erk_rob_kin.erGetRobotBase(er_hnd, &iTb);       // Get robot base location w.r.t. world
                erk_rob_kin_api.erGetJointFrameActiveLast(er_hnd, ii, &T_last);
                erk_rob_kin_api.erGetJointFrameActiveNext(er_hnd, ii, &T_nxt);
        }
        else
        {
                DFRAME bTax, T_last, T_nxt;
                erk_rob_kin.erGetJointFrameRobotBase(er_hnd, ii, &bTax);        // Get location of active joint coorsys w.r.t robot base
                erk_rob_kin_api.erGetJointFrameActiveLast(er_hnd, ii, &T_last);
                erk_rob_kin_api.erGetJointFrameActiveNext(er_hnd, ii, &T_nxt);
        }
}
// passive joints
long n_dof_passive = erk_rob_kin.erGet_num_dofs_passive(er_hnd);        // Get number of passive robot joints
for (int ii = 1; ii <= n_dof_passive; ii++)
{
        erk_rob_kin.erGetJointFrameRobotBase_passive(er_hnd, ii, &bTax);        // Get location of passive joint coorsys w.r.t robot base
        erk_rob_kin_api.erGetJointFramePassiveLast(er_hnd, ii, &bTax);
        erk_rob_kin_api.erGetJointFramePassiveNext(er_hnd, ii, &bTax);
}
...

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number[1..number of active joints], max active_jnt_no is::ER_KIN_DOFS
[out]	T_nxt	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erGetJointFramePassiveLast()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetJointFramePassiveLast	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T_last
	)

static

Get kinematics transformation from last joint for each passive joint "Geometric Data from last".
Get the number of passive joints with erGet_num_dofs_passive()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number[1..number of passive joints], max passive_jnt_no is::ER_KIN_PASSIVE_JNTS
[out]	T_last	transformation from last joint

Return values

0	- OK
1	- Error, invalid handle

◆ erGetJointFramePassiveNext()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetJointFramePassiveNext	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T_nxt
	)

static

Get kinematics transformation to the next joint for each passive joint "Geometric Data to next".
Get the number of passive joints with erGet_num_dofs_passive()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number[1..number of passive joints], max passive_jnt_no is::ER_KIN_PASSIVE_JNTS
[out]	T_nxt	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erGetRobotBasetoFirstJoint()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erGetRobotBasetoFirstJoint	(	ER_HND	er_hnd,
		DFRAME *	bT0
	)

static

Robot Base to first joint of kinematics chain.
.

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[out]	bT0	base to first joint

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointDyn()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointDyn	(	ER_HND	er_hnd,
		double	q_dyn,
		long	jnt_no
	)

static

Set a single actual robot joint data. The kinematics joint data q_dyn are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	q_dyn	robot joint data, max size ER_KIN_DOFS
[in]	jnt_no	joint number [1..number of active joints], max jnt_no is ER_KIN_DOFS

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointFrameActiveLast()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointFrameActiveLast	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T_last
	)

static

Set kinematics transformation from last joint for each active joint "Geometric Data from last".
Get the number of active joints with erGet_num_dofs()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number[1..number of active joints], max active_jnt_no is::ER_KIN_DOFS
[in]	T_last	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointFrameActiveNext()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointFrameActiveNext	(	ER_HND	er_hnd,
		long	active_jnt_no,
		DFRAME *	T_nxt
	)

static

Set kinematics transformation to the next joint for each active joint "Geometric Data to next".
Get the number of active joints with erGet_num_dofs()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	active_jnt_no	active joint number[1..number of active joints], max active_jnt_no is::ER_KIN_DOFS
[in]	T_nxt	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointFramePassiveLast()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointFramePassiveLast	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T_last
	)

static

Set kinematics transformation from last joint for each passive joint "Geometric Data from last".
Set the number of passive joints with erGet_num_dofs_passive()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number[1..number of passive joints], max passive_jnt_no is::ER_KIN_PASSIVE_JNTS
[in]	T_last	transformation from last joint

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointFramePassiveNext()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointFramePassiveNext	(	ER_HND	er_hnd,
		long	passive_jnt_no,
		DFRAME *	T_nxt
	)

static

Set kinematics transformation to the next joint for each passive joint "Geometric Data to next".
Get the number of passive joints with erGet_num_dofs_passive()
Remarks
see example erGetJointFrameActiveNext()

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	passive_jnt_no	passive joint number[1..number of passive joints], max passive_jnt_no is::ER_KIN_PASSIVE_JNTS
[in]	T_nxt	transformation to the next joint

Return values

0	- OK
1	- Error, invalid handle

◆ erSetJointSolutions()

static DLLAPI int ER_STDCALL ERK_CAPI_ROB_KIN_API::erSetJointSolutions	(	ER_HND	er_hnd,
		double *	q_solutions,
		long *	q_warnings
	)

static

Set all robot joint solutions. The kinematics joint data q_solutions are in units [m] for prismatic joint type
and [rad] for rotational joint type
Get the number of active joints with erGet_num_dofs()
Get the number of configurations with erGetNumConfigs()
Remarks
Call this function after calling the inverse kinematics transformation, erInvKinRobotBaseTip(), erInvKinWorldTip(), erInvKinRobotBaseTcp(), erInvKinWorldTcp()

// Example:
double q[ER_KIN_DOFS];                                  // contains current solution
double q_solutions[ER_KIN_CONFIGS*ER_KIN_DOFS]; // contains all solutions
long q_warnings[ER_KIN_CONFIGS];                // warning for each solution
long ret;
ER_HND c_er_hnd; // valid robot handle
long num_configs;
ret = erGetNumConfigs(c_er_hnd,&num_configs);                                           // Get number of possible robot configurations
long inv_warn = INV_WARN_OK;
inv_warn=erInvKinRobotBaseTcp(c_er_hnd,&bTw);   // Calculating the inverse kinematics transformation
erGetJoints(c_er_hnd,q);                                // Get robot joint data
erGetJointSolutions(c_er_hnd,q_solutions,q_warnings); // Get all robot joint solutions
char *warn_s[] = {"OK" , "SINGULAR" , "UNREACH" , "CNFG" , "INVKIN" , "SWE_EXCEED" , "?"};
for (int i=0;i<num_configs;i++)
{
        char s[ER_MAXSTR];
        long q_warn = q_warnings[i];
        sprintf(s,"q_sol[%d] (%s): ",i,warn_s[q_warn]);
        if (q_warn!= INV_WARN_OK && q_warn!= INV_WARN_SINGULAR && q_warn!= INV_WARN_SWE_EXCEED)
        {
                fprintf(fp,"%s\n",s);
                continue;
        }
        double *dq = &q_solutions[i*ER_KIN_DOFS];
        out_vec_joints(fp,s,dq,jointtype,num_dofs);
}
...

Parameters

[in]	er_hnd	unique kinematics handle ER_HND
[in]	q_solutions	robot joint data, max size ER_KIN_CONFIGS * ER_KIN_DOFS
[in]	q_warnings	warning for each solution, max size ER_KIN_CONFIGS

Return values

0	- OK
1	- Error, invalid handle

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

◆ erGet_erk_kin_usr_ptr()

◆ erGetInvKinID()

◆ erGetInvKinSubID()

◆ erGetJointFrameActiveLast()

◆ erGetJointFrameActiveNext()

◆ erGetJointFramePassiveLast()

◆ erGetJointFramePassiveNext()

◆ erGetRobotBasetoFirstJoint()

◆ erSetJointDyn()

◆ erSetJointFrameActiveLast()

◆ erSetJointFrameActiveNext()

◆ erSetJointFramePassiveLast()

◆ erSetJointFramePassiveNext()

◆ erSetJointSolutions()