er_Kernel_main.h

Go to the documentation of this file.

/*      ------------------------------------------------------------------------------------------

        EASY-ROB Robotics Simulation Kernel

        EASY-ROB Software GmbH

        Copyright (c) 1996 - 2023

        Date:           APR 2023
        Version:        8.606

        Description
        This module declares all interface functions and data types supplied in this kernel and
        for usages in the host application. The exported functions should be also entered in
        the modul definition file (EasySimKernel.def).
        The DLL exports ANCI-C compatable functions.
        The kernel is available on windows x86, x64 and on Linux.

        Beschreibung    
        Dieses Modul deklariert alle Schnittstellenfunktionen und Datentypen des Kernels zur 
        Hostanwendung. Die Funktionen, die von der DLL, exportiert werden sollen müssen
        in die Moduldefinitionsdatei (EasySimKernel.def) eingetragen werden.
        Die DLL exportiert ANSI-C kompatible Funktionen.
        Der Kernel ist unter Windows x86, x64 und unter Linux verfügbar.
        
        Autor
           EASY-ROB Software GmbH

    Modifications
         26-Feb-2004 - TP,SAN - Erstellt
         xx-Feb-2004 - SAN - Implementierung
         10-nov-2004 - SAN - MotionPlanner Implementierung (Key "MotionPlanner")
         12-nov-2004 - SAN -> NEW_041112
         24-mar-2005 - SAN -> NEW_050324
         xx-aug-2012 - SAN -> v6.004
                1)
                //#include "ipo_extax.h"                // obsolete, use ER_EXTAX_KIN_DATA_MAX instead of EXTAX_KIN_DATA_MAX
                const long ER_EXTAX_KIN_DATA_MAX        = 12;   ///< Maximum number of external axis data
                2)
                TARGET_TYPE_ABS changes to ER_TARGET_TYPE_ABS                           ///< Target w.r.t object frame  
                TARGET_TYPE_ABSJOINT changes to ER_TARGET_TYPE_ABSJOINT         ///< Target single axis motion,if motion_type = JOINT --> AbsJoint  
                3)
                erSetSpeedReductionEnable() new
                erGetSpeedReductionEnable() new

                //structure NEXT_STEP_DATA is extended by
                //double DistanceToDestination[DISTANCE_TO_DESTINATION]; ///< distance to destination: [0] distance [m], [1] angle [rad], [2] percentage [%], [3..] tbd
         07-nov-2013 - SAN -> v6.303
                class ERK_CAPI
         13-jan-2015 - SAN -> v6.601
         31-mar-2015 - SAN -> v6.604
         01-jul-2015 - SAN -> v6.606
         13-jul-2015 - SAN -> v6.608 VS-2012
         27-jul-2015 - SAN -> v6.609 erColl_ChkCollision_res() thread save
         22-dec-2015 - SAN -> v6.611 Support ER_MOTION_FILTER_GEO for external axis
         13-jan-2016 - SAN -> v6.612 BugFix MultiKIN Option, erGet_n_Kin_IR()
         18-mar-2016 - SAN -> v7.001 Major Release, MatrixLock
         03-jun-2016 - SAN -> v7.002 
         18-jul-2016 - SAN -> v7.003 0-DOF Devices
         17-aug-2016 - SAN -> v7.004 Famos x64
         29-sep-2016 - SAN -> v7.005 MultiDongle
         23-feb-2017 - SAN -> v7.301 Major PreRelease
         10-apr-2017 - SAN -> v7.302 Major Release
         28-sep-2017 - SAN -> v7.305 Final Release
         10-sep-2017 - SAN -> v7.306 ToolPathIntegration ...
         24-jan-2018 - SAN -> v7.307 Patch
         06-apr-2018 - SAN -> v7.601 Major PreRelease
         08-may-2018 - SAN -> v7.602 API PostProc
         17-jul-2018 - SAN -> v7.603 
         12-nov-2018 - SAN -> v7.606 ToolPath optimization
         01-feb-2019 - SAN -> v7.607 autopath 
         08-aug-2019 - SAN -> v8.001 Major PreRelease
         03-sep-2019 - SAN -> v8.002 VS2017
         17-sep-2019 - SAN -> v8.003 API-INV
         09-dec-2019 - SAN -> v8.004 GEOMNGR
         23-feb-2020 - SAN -> v8.005 ToolOffset
         16-jun-2020 - SAN -> v8.007 ER_KIN_PASSIVE_JNTS = 36
         29-jul-2020 - SAN -> v8.301 GEOMNGR integration API
         16-dec-2020 - SAN -> v8.304 Major Release
         30-jul-2021 - SAN -> v8.307 Additional methods to access kinematics attributes, license priority ER_LICENSE_PRIORITY_LMNGR, ER_LICENSE_PRIORITY_LOCAL
         29-nov-2021 - SAN -> v8.308 License.enc
         23-mar-2022 - SAN -> v8.602 PreRelease
         03-aug-2022 - SAN -> v8.602 Patch erk_AutoPath*() c-functions added
         09-aug-2022 - SAN -> v8.603 PreRelease
         08-sep-2022 - SAN -> v8.604 PreRelease - AutoPath Minimize -> try to reach last waypoint first
         13-oct-2022 - SAN -> v8.605 PreRelease - AutoPath Abort Problem
         19-apr-2023 - SAN -> v8.606 BugFix in ER_SK_INTERFACE::loc_FreeGrp(()
------------------------------------------------------------------------------------------      */

#ifndef _er_kernel_main_h
#define _er_kernel_main_h

#include "erk_capi_types.h"

#ifdef __cplusplus
extern "C" {
#endif

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Administrative Kernel Functions, Initialization etc.
// class ERK_CAPI_ADMIN
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_erk_init_license

DLLAPI long   ER_STDCALL erKernelGetVersion(void);

DLLAPI long ER_STDCALL erKernelSetLicensePriority(int license_priority);

DLLAPI long ER_STDCALL erKernelGetLicensePriority(int *license_priority);

DLLAPI long ER_STDCALL erKernelSetLicenseFile(char *license_file);

DLLAPI long ER_STDCALL erKernelAddLicenseFile(char *license_file);

DLLAPI long ER_STDCALL erKernelGetLicenseFile(char *license_file);

DLLAPI long   ER_STDCALL erKernelInitialize(char *HostApplicationPath, char *Sold_To_ID, long mode=0);

#pragma endregion region_erk_init_license

#pragma region region_erk_admin

DLLAPI void   ER_STDCALL erKernelFree(void);

DLLAPI long   ER_STDCALL erKernelGetLicense(char *hw_id);

DLLAPI long   ER_STDCALL erKernelGetHardwareID(char *hw_id);

DLLAPI long   ER_STDCALL erKernelGetOptions(char *opt);

DLLAPI long   ER_STDCALL erKernelGetOptionsDisabled(char *nopt);

#pragma endregion region_erk_admin

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Funktionen zum Aufnehmen der Call-Back Funktionen
// class ERK_CAPI_CALLBACKS
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_erk_callbacks

/* AddToHostLog
   Fügt dem Log der Hostanwendung einen Eintrag hinzu, oder gibt eine Statusmeldung in der
   Statuszeile aus.
*/
DLLAPI void   ER_STDCALL erSetCallBack_LogProc(TerLogProc Handler);

/* Enable/Disable 
        AddToHostLog messages
*/
DLLAPI void   ER_STDCALL erEnableCallBack_LogProc(long onoff);

/* HostLoadGeometry
   Fordert die Hostanwendung auf eine Geometrie aus einer Datei zu laden.

   ErHandle:    Handle der Kinematik, der die Geometrie zugeordnet werden soll.
   GeoHandle:   Handle auf eine eventuell schon zuvor geladene Geomtrie der Kinematik 
                                Funktioniert derzeit nicht und muss 0 sein.
   Scaling:             Skalierungsfactor mit dem die Geomtrie skaliert werden soll.
   GeoMat:              Eine Transformation zur Lagekorrektur der Geometrie.
   FileName:    Name der Datei, die geladen werden soll. Derzeit wird ein vollständiger Pfad erwartet.

   Returns:             Handle auf die geladene Geomtrie. Im Fehlerfall wird 0 zurückgeliefert
*/
DLLAPI void   ER_STDCALL erSetCallBack_LoadGeometryProc(TerLoadGeometryProc Handler);

/* HostUpdateGeometry
   Fordert die Hostanwendung auf die Kinematiktransformation der Geometrie zu aktualisieren.

   ErHandle:    Handle der Kinematik, der die Geometrie zugeordnet werden soll.
   GeoHandle:   Handle auf die Geomtrie, wie von "HostLoadGeometry" geliefert.
   KinMat:              Die neue Transformation.
                                
   Returns:             Im Fehlerfall 1, ansonsten 0
*/
DLLAPI void   ER_STDCALL erSetCallBack_UpdateGeometryProc(TerUpdateGeometryProc Handler);

/* HostFreeGeometry
   Fordert die Hostanwendung die Geometrie freizugeben.

   ErHandle:    Handle der Kinematik, der die Geometrie zugeordnet werden soll.
   GeoHandle:   Handle auf die Geomtrie, wie von "HostLoadGeometry" geliefert.
                                
   Returns:             Im Fehlerfall 1, ansonsten 0
*/
DLLAPI void   ER_STDCALL erSetCallBack_FreeGeometryProc(TerFreeGeometryProc Handler);

/* HostGetActualTravelRanges
   Fordert die Hostanwendung die Travel Ranges zu berechnen.

   ErHandle:    Handle der Kinematik, der die Travel Ranges zugeordnet werden soll.
                                
   Returns:             Im Fehlerfall 1, ansonsten 0
*/
DLLAPI void   ER_STDCALL erSetCallBack_GetActualTravelRangesProc(TerGetActualTravelRangesProc Handler);
/* HostNotify
   Gibt Meldung an die Hostanwendung.
*/
DLLAPI void   ER_STDCALL erSetCallBack_NotifyProc(TerNotifyProc Handler);

/* HostGrpSync
   GrpSync IO Hostanwendung.
*/
DLLAPI void   ER_STDCALL erSetCallBack_GrpSyncProc(TerGrpSyncProc Handler);
#pragma endregion region_erk_callbacks

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_DEVICES
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

#pragma region region_erk_devices

/* erInitKin
   Erzeugt ein Roboter Handle 
   Return 0-OK,  1-Error
   siehe auch erINITIALIZE
*/
DLLAPI long   ER_STDCALL erInitKin(ER_HND *er_hnd, Host_HND host_hnd=NULL);

/* erUnloadKin
        Unload Robot Handle 
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erUnloadKin(ER_HND *er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// 
// erConnect*   NEW_050402
//
//      erConnectPositioner             erConnectPositionerSetSync              erConnectPositionerGetSync
//      erConnectConveyor               erConnectConveyorSetSync                erConnectConveyorGetSync
//      erConnectTrackMotion    erConnectTrackMotionSetSync             erConnectTrackMotionGetSync
//      erConnectRobot                  erConnectRobotSetSync                   erConnectRobotGetSync
//
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* erConnectPositioner
   Connects Positioner Kinematik mit dem Handle 'er_hnd_connect' zum Roboter mit dem Handle 'er_hnd'
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectPositioner(ER_HND er_hnd, ER_HND er_hnd_connect);
DLLAPI ER_HND ER_STDCALL erConnectPositionerGetHND(ER_HND er_hnd);

/* erConnectPositionerSetSync
   Setzt Sync Flag der Positioner Kinematik
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectPositionerSetSync(ER_HND er_hnd, long connect_sync);

/* erConnectPositionerGetSync
   Liest Sync Flag der Positioner Kinematik
   Return -1-Error, ER_SYNC_UNDEF, ER_SYNC_OFF, ER_SYNC_ON
*/
DLLAPI long   ER_STDCALL erConnectPositionerGetSync(ER_HND er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* erConnectConveyor
   Connects Conveyor Kinematik mit dem Handle 'er_hnd_connect' zum Roboter mit dem Handle 'er_hnd'
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectConveyor(ER_HND er_hnd, ER_HND er_hnd_connect);
DLLAPI ER_HND ER_STDCALL erConnectConveyorGetHND(ER_HND er_hnd);

/* erConnectConveyorSetSync
   Setzt Sync Flag der Conveyor Kinematik
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectConveyorSetSync(ER_HND er_hnd, long connect_sync);

/* erConnectConveyorGetSync
   Liest Sync Flag der Conveyor Kinematik
   Return -1-Error, ER_SYNC_UNDEF, ER_SYNC_OFF, ER_SYNC_ON
*/
DLLAPI long   ER_STDCALL erConnectConveyorGetSync(ER_HND er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* erConnectTrackMotion
   Connects Track Kinematik mit dem Handle 'er_hnd_connect' zum Roboter mit dem Handle 'er_hnd'
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectTrackMotion(ER_HND er_hnd, ER_HND er_hnd_connect);
DLLAPI ER_HND ER_STDCALL erConnectTrackMotionGetHND(ER_HND er_hnd);

/* erConnectTrackMotionSetSync
   Setzt Sync Flag der TrackMotion Kinematik
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectTrackMotionSetSync(ER_HND er_hnd, long connect_sync);
/* erConnectTrackMotionGetSync
   Liest Sync Flag der TrackMotion Kinematik
    Return -1-Error, ER_SYNC_UNDEF, ER_SYNC_OFF, ER_SYNC_ON, ER_SYNC_CONVEYOR
*/
DLLAPI long   ER_STDCALL erConnectTrackMotionGetSync(ER_HND er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* erConnectRobot
   Connects Robot Kinematik mit dem Handle 'er_hnd_connect' zum Roboter mit dem Handle 'er_hnd'
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectRobot(ER_HND er_hnd, ER_HND er_hnd_connect);
DLLAPI ER_HND   ER_STDCALL erConnectRobotGetHND(ER_HND er_hnd);

/* erConnectRobotSetSync
   Setzt Sync Flag der Robot Kinematik
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erConnectRobotSetSync(ER_HND er_hnd, long connect_sync);
/* erConnectRobotGetSync
   Liest Sync Flag der Robot Kinematik
   Return -1-Error, ER_SYNC_UNDEF, ER_SYNC_OFF, ER_SYNC_ON
*/
DLLAPI long   ER_STDCALL erConnectRobotGetSync(ER_HND er_hnd);

/* erUnloadTool
   Loescht Tool GeoHandle und setzt Tool auf Ident
   Important:
   Damit die TCP Position stimmt, muss ein rob_kin_update() folgen
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erUnloadTool(ER_HND er_hnd);

/* erLoadKin
   Load an easy-rob robot file with tool
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erLoadKin(ER_HND er_hnd,char *fln_rob);

/* erLoadTool
   Load an easy-rob tool file
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erLoadTool(ER_HND er_hnd,char *fln_tool);

/* erGet_n_Kin
   Return Number of loaded Robots  "m_n_rob_kin"
*/
DLLAPI long   ER_STDCALL erGet_n_Kin(ER_HND er_hnd);

/* erGet_n_Kin_IR
   Return Number of loaded Robots with more than 3 joints and inverse kinematics "m_n_rob_kin_ir"
*/
DLLAPI long   ER_STDCALL erGet_n_Kin_IR(ER_HND er_hnd);

/* erGetName
   Name of Robot
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetName(ER_HND er_hnd,char *name);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Robot Kinematics
// class ERK_CAPI_ROB_KIN
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erGetIDs
   Kinematik ID  - kinematischer Typ 
                RRRRRR_id =1;           // Manutec
                TTTRRR_id =2;           // Portal
                RRRRRR_bl_id =3;        // ABB back link
                UNIV_ROB_id =10;        // Universelle Koordinaten
                DH_id =11;                      // DH Koordinaten
   inv_id               - ID fuer inverse Kineamtik
   inv_sub_id   - Sub ID fuer inverse Kineamtik
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetIDs(ER_HND er_hnd,long *kin_id,long *inv_id, long *inv_sub_id);

/* erGet_num_dofs
   Return Number of Robot active joints
*/
DLLAPI long   ER_STDCALL erGet_num_dofs(ER_HND er_hnd);

/* erGet_num_dofs_passive
   Return Number of Robot passive joints
*/
DLLAPI long   ER_STDCALL erGet_num_dofs_passive(ER_HND er_hnd);

/* erGetJointTypes
   gets type of active robot joints 0-Rot 1-Trans
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointTypes(ER_HND er_hnd, long *jnt_type_active);

/* erGetJointTypes_passive
   gets type of passive robot joints 0-Rot 1-Trans
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointTypes_passive(ER_HND er_hnd, long *jnt_type_passive);

/* erGetJointDirections
   gets direction of active robot joints 1-JNT_DIRECTION_X, 2-JNT_DIRECTION_Y, 3-JNT_DIRECTION_Z
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointDirections(ER_HND er_hnd, long *jnt_direction_active);

/* erGetJointDirections_passive
   gets type direction of passive robot joints 1-JNT_DIRECTION_X, 2-JNT_DIRECTION_Y, 3-JNT_DIRECTION_Z
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointDirections_passive(ER_HND er_hnd, long *jnt_direction_passive);

/* erGetJointChainTypes
   gets chain type of active robot joints 1-JNT_CHAIN_TYPE_CHAIN, 2-JNT_CHAIN_TYPE_NO_CHAIN, 3-JNT_CHAIN_TYPE_SEP_NO_CHAIN
   Return 0-OK,  1-Error or Abort
*/
DLLAPI long   ER_STDCALL erGetJointChainTypes(ER_HND er_hnd, long *jnt_chain_type_active);

/* erGetJointChainTypes_passive
   gets chain type of passive robot joints 1-JNT_CHAIN_TYPE_CHAIN, 2-JNT_CHAIN_TYPE_NO_CHAIN, 3-JNT_CHAIN_TYPE_SEP_NO_CHAIN
   Return 0-OK,  1-Error or Abort
*/
DLLAPI long   ER_STDCALL erGetJointChainTypes_passive(ER_HND er_hnd, long *jnt_chain_type_passive);

/* erGetJointAttachDof_active
   gets Attach-Dof of active robot joints
   Return 0-OK,  1-Error or Abort
*/
DLLAPI long   ER_STDCALL erGetJointAttachDof_active(ER_HND er_hnd, long *jnt_attach_dof_active);

/* erGetJointAttachDof_passive
        gets Attach-Dof of passive robot joints
        Return 0-OK,  1-Error or Abort
*/
DLLAPI long   ER_STDCALL erGetJointAttachDof_passive(ER_HND er_hnd, long *jnt_attach_dof_passive);

/* erGetMoveBaseMode
        gets moveable base mode 0-Robot base is fix (default), 1-Robot base is moveable
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetMoveBaseMode(ER_HND er_hnd,long *move_base_mode);

/* erGetMoveBasepJointIdx
        gets passive joint idx representing the moveable base
        0-Robot base is fix (default) 
        n-index of passive joint representing the moveable base
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetMoveBasepJointIdx(ER_HND er_hnd,long *move_base_pjointidx);

/* erGetpJointMoveBase
        get transformation from passive joint 'pjnt' to the moveable base 'mb'
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetpJointMoveBase(ER_HND er_hnd,DFRAME *pjntTmb);

/* erGetRobotBaseToMoveBase
        get transformation from robot base 'b' to the moveable base 'mb'
        bTmb is Ident, if moveable base is fix
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetRobotBaseToMoveBase(ER_HND er_hnd,DFRAME *bTmb);

/* erSetJoints
   Set Robot joints
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erSetJoints(ER_HND er_hnd,double *q_solut);

/* erSetJoint
   Set Robot joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erSetJoint(ER_HND er_hnd,double q_solut, long jnt_no);

/* erGetJoints
   Get current (active) Robot joints
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJoints(ER_HND er_hnd,double *q_solut);

/* erGetJointSolutions
   Get all (active) Robot joints solutions
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointSolutions(ER_HND er_hnd,double *q_solutions, long *q_warnings);

/* erGetJointSpeeds
   Get current (active) Robot joint speeds
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointSpeeds(ER_HND er_hnd,double *v_solut);

/* erGetJointAccels
   Get current (active) Robot joint accels
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointAccels(ER_HND er_hnd,double *a_solut);

/* erGetJoints_passive
   Get current passive Robot joints
*/
DLLAPI long   ER_STDCALL erGetJoints_passive(ER_HND er_hnd,double *q_passive);

/* erSetConfig
   Set Robot configuration
*/
DLLAPI long   ER_STDCALL erSetConfig(ER_HND er_hnd, long config);

/* erGetConfig
   Set Robot configuration
*/
DLLAPI long   ER_STDCALL erGetConfig(ER_HND er_hnd, long *config);

/* erFindConfig
   Find current Robot configuration
*/
DLLAPI long   ER_STDCALL erFindConfig(ER_HND er_hnd, long *config);

/* erGetNumConfigs
   Get Number of Robot configurations
*/
DLLAPI long   ER_STDCALL erGetNumConfigs(ER_HND er_hnd, long *num_configs);

/* erInvKinRobotBaseTip
   Inverse bTt is Robot base to Tip
   Return:
   Return code for inverse kinematics, INV_WARN_*
*/
DLLAPI long   ER_STDCALL erInvKinRobotBaseTip (ER_HND er_hnd,DFRAME *bTt);

/* erInvKinWorldTip
   Inverse iTt is World to Tip
   Return:
   Return code for inverse kinematics, INV_WARN_*
*/
DLLAPI long   ER_STDCALL erInvKinWorldTip(ER_HND er_hnd,DFRAME *iTt);

/* erInvKinRobotBaseTcp
   Inverse bTt is Robot base to Tcp
   Return:
   Return code for inverse kinematics, INV_WARN_*
*/
DLLAPI long   ER_STDCALL erInvKinRobotBaseTcp (ER_HND er_hnd,DFRAME *bTw);

/* erInvKinWorldTcp
   Inverse iTt is World to Tcp
   Return:
   Return code for inverse kinematics, INV_WARN_*
*/
DLLAPI long   ER_STDCALL erInvKinWorldTcp(ER_HND er_hnd,DFRAME *iTw);

/* erSetTool
   Set Tool Tip to Tcp
*/
DLLAPI long   ER_STDCALL  erSetTool(ER_HND er_hnd,DFRAME *tTw);
/* erGetTool
   Get Tool Tip to Tcp
*/
DLLAPI long   ER_STDCALL  erGetTool(ER_HND er_hnd,DFRAME *tTw);

/* erGetToolFix
   Get Tool Tip to fix Tcp, without Tool Offset
*/
DLLAPI long   ER_STDCALL  erGetToolFix(ER_HND er_hnd, DFRAME *tTwfix);

/* erSetToolOffset
   Set Tool Offset Tcp' to Tcp
*/
DLLAPI long   ER_STDCALL  erSetToolOffset(ER_HND er_hnd, DFRAME *wTwo);
/* erGetToolOffset
   Get Tool Offset Tcp' to Tcp
*/
DLLAPI long   ER_STDCALL  erGetToolOffset(ER_HND er_hnd, DFRAME *wTwo);

/* erSetBaseRobotBase
   Set Base w.r.t. RobotBase
*/
DLLAPI long   ER_STDCALL  erSetBaseRobotBase(ER_HND er_hnd,DFRAME *bTbase);

/* erGetBaseRobotBase
   Get Base w.r.t. RobotBase
*/
DLLAPI long   ER_STDCALL  erGetBaseRobotBase(ER_HND er_hnd,DFRAME *bTbase);

/* erSetBaseWorld
   Set Base w.r.t. World
*/
DLLAPI long   ER_STDCALL  erSetBaseWorld(ER_HND er_hnd,DFRAME *iTbase);

/* erGetBaseWorld
   Get Base w.r.t. World
*/
DLLAPI long   ER_STDCALL  erGetBaseWorld(ER_HND er_hnd,DFRAME *iTbase);

/* erSetRobotBase
   Set RobotBase, World to Robot base
*/
DLLAPI long   ER_STDCALL  erSetRobotBase(ER_HND er_hnd,DFRAME *iTb);

/* erGetRobotBase
   Get RobotBase, World to Robot base
*/
DLLAPI long   ER_STDCALL  erGetRobotBase(ER_HND er_hnd,DFRAME *iTb);

/* erGetRobotBaseTip
   Get Robot Tip w.r.t. Robot base
*/
DLLAPI long   ER_STDCALL  erGetRobotBaseTip(ER_HND er_hnd,DFRAME *bTt);
/* erGetRobotBaseTcp
   Get Robot Tcp w.r.t. Robot base
*/
DLLAPI long   ER_STDCALL  erGetRobotBaseTcp(ER_HND er_hnd,DFRAME *bTw);

/* erGetWorldTip
   Get Robot Tip w.r.t. World
*/
DLLAPI long   ER_STDCALL  erGetWorldTip(ER_HND er_hnd,DFRAME *iTt);

/* erGetWorldTcp
   Get Robot Tcp w.r.t. World
*/
DLLAPI long   ER_STDCALL  erGetWorldTcp(ER_HND er_hnd,DFRAME *iTw);

/* erUpdateKin
   Update the complete kinematic
*/
DLLAPI long   ER_STDCALL  erUpdateKin(ER_HND er_hnd);

/* erGetJointFrameRobotBase
   Transformation from RobotBase to (active) Robot Joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetJointFrameRobotBase(ER_HND er_hnd,long active_jnt_no,DFRAME *bTax);

/* erGetJointFrameRobotBase_passive
   Transformation from RobotBase to passive Robot Joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetJointFrameRobotBase_passive(ER_HND er_hnd,long passive_jnt_no,DFRAME *bTax);

/* erGetJointFrameWorld
   Transformation from World to (active) Robot Joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetJointFrameWorld(ER_HND er_hnd,long active_jnt_no,DFRAME *iTax);

/* erGetJointFrameWorld_passive
   Transformation from World to passive Robot Joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetJointFrameWorld_passive(ER_HND er_hnd,long passive_jnt_no,DFRAME *iTax);

/* erSetExtTcpRobotBase
   Set external Tcp w.r.t Robot Base
   Return 0-OK,  1-Error oder Abort
   Ausnahme: Beim Positioner ist der external Tcp w.r.t flange des positioners
*/
DLLAPI long   ER_STDCALL  erSetExtTcpRobotBase(ER_HND er_hnd,DFRAME *bText, long use_ext_flange);

/* erGetExtTcpRobotBase
   Get external Tcp w.r.t. Robot Base
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetExtTcpRobotBase(ER_HND er_hnd,DFRAME *bText);

/* erSetExtTcpWorld
   Set external Tcp w.r.t world
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erSetExtTcpWorld(ER_HND er_hnd,DFRAME *iText);

/* erGetExtTcpWorld
   Get external Tcp w.r.t. world
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetExtTcpWorld(ER_HND er_hnd,DFRAME *iText);

/* erSetExtTcpMode
   Set ExtTcpMode  0-IPO_MODE_BASE (Werk ZEUG fuehrend), 1-IPO_MODE_TOOL (Werk STUECK fuehren)
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erSetExtTcpMode(ER_HND er_hnd,long ext_tcp_mode);

/* erGetExtTcpMode
   Get ExtTcpMode  0-IPO_MODE_BASE (Werk ZEUG fuehrend), 1-IPO_MODE_TOOL (Werk STUECK fuehren)
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetExtTcpMode(ER_HND er_hnd,long *ext_tcp_mode);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Robot Kinematics API
// class ERK_CAPI_ROB_KIN_API
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erGetInvKinID
        Inverse kinematics ID for cRobot
        Return 0-OK,  1-Error oder Abort
*/
DLLAPI long ER_STDCALL erGetInvKinID(ER_HND er_hnd, long *invkin_id);

/* erGetInvKinSubID
   Inverse kinematics Sub-ID for cRobot
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long ER_STDCALL erGetInvKinSubID(ER_HND er_hnd, long *invkinsub_id);

DLLAPI long     ER_STDCALL erSetJointSolutions(ER_HND er_hnd, double *q_solutions, long *q_warnings);

DLLAPI long   ER_STDCALL erSetJointDyn(ER_HND er_hnd, double q_dyn, long jnt_no);

DLLAPI long ER_STDCALL erGetRobotBasetoFirstJoint(ER_HND er_hnd, DFRAME *T);
DLLAPI long ER_STDCALL erGetJointFrameActiveNext(ER_HND er_hnd, long active_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erSetJointFrameActiveNext(ER_HND er_hnd, long active_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erGetJointFrameActiveLast(ER_HND er_hnd, long active_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erSetJointFrameActiveLast(ER_HND er_hnd, long active_jnt_no, DFRAME *T);

DLLAPI long ER_STDCALL erGetJointFramePassiveNext(ER_HND er_hnd, long passive_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erSetJointFramePassiveNext(ER_HND er_hnd, long passive_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erGetJointFramePassiveLast(ER_HND er_hnd, long passive_jnt_no, DFRAME *T);
DLLAPI long ER_STDCALL erSetJointFramePassiveLast(ER_HND er_hnd, long passive_jnt_no, DFRAME *T);
DLLAPI void** ER_STDCALL erGet_erk_kin_usr_ptr(ER_HND er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Robot Attributes
// class ERK_CAPI_ROB_ATRIBUTES
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


/* erSetHomepos
   Set Robot Home position
*/
DLLAPI long   ER_STDCALL erSetHomepos(ER_HND er_hnd,double *homepos);

/* erGetHomepos
   Get Robot Home position
*/
DLLAPI long   ER_STDCALL erGetHomepos(ER_HND er_hnd,double *homepos);

/* erSetSweMin
   Set Robot min. SWE Switch
*/
DLLAPI long   ER_STDCALL erSetSweMin(ER_HND er_hnd,double *swe_min);

/* erGetSweMin
   Get  min. SWE Switch
*/
DLLAPI long   ER_STDCALL erGetSweMin(ER_HND er_hnd,double *swe_min);

/* erGetSweMinCalc
   Get  min. calculated SWE Switch
*/
DLLAPI long   ER_STDCALL erGetSweMinCalc(ER_HND er_hnd,double *swe_min_calc);

/* erSetSweMax
   Set  max. SWE Switch
*/
DLLAPI long   ER_STDCALL erSetSweMax(ER_HND er_hnd,double *swe_max);

/* erGetSweMax
   Get  max. SWE Switch
*/
DLLAPI long   ER_STDCALL erGetSweMax(ER_HND er_hnd,double *swe_max);
/* erGetSweMaxCalc
   Get  max. calculated SWE Switch
*/
DLLAPI long   ER_STDCALL erGetSweMaxCalc(ER_HND er_hnd,double *swe_max_calc);

/* erGetSweMinMaxCalc
   Get  min. and max. calculated SWE Switches
*/
DLLAPI long   ER_STDCALL erGetSweMinMaxCalc(ER_HND er_hnd,double *swe_min_calc,double *swe_max_calc);

DLLAPI long   ER_STDCALL erGetSweCalcMode(ER_HND er_hnd,long *swe_calc_mode);

/* erSetSweMin_passive
   Set Robot min. SWE Switch for passive joints
*/
DLLAPI long   ER_STDCALL erSetSweMin_passive(ER_HND er_hnd, double *swe_min_passive);
/* erGetSweMin_passive
   Get  min. SWE Switch from passive joints
*/
DLLAPI long   ER_STDCALL erGetSweMin_passive(ER_HND er_hnd, double *swe_min_passive);

/* erSetSweMax_passive
   Set Robot max. SWE Switch for passive joints
*/
DLLAPI long   ER_STDCALL erSetSweMax_passive(ER_HND er_hnd, double *swe_max_passive);
/* erGetSweMax_passive
   Get  max. SWE Switch from passive joints
*/
DLLAPI long   ER_STDCALL erGetSweMax_passive(ER_HND er_hnd, double *swe_max_passive);

/* erGetConfigName
   Name of robot configuration
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetConfigName(ER_HND er_hnd, long config_idx, char *config_name);

/* erGetJointName
   Name of active robot joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointName(ER_HND er_hnd, long active_jnt_no, char *jnt_name);

/* erGetJointName_passive
   Name of passive robot joint
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL erGetJointName_passive(ER_HND er_hnd, long passive_jnt_no, char *jnt_name_passive);


/* erSetJointSign
   Set Joint Directions
*/
DLLAPI long   ER_STDCALL erSetJointSign(ER_HND er_hnd,double *joint_sign); // NEW_050324

/* erGetJointSign
   Get Joint Sign
*/
DLLAPI long   ER_STDCALL erGetJointSign(ER_HND er_hnd,double *joint_sign); // NEW_050324

/* erSetJointOffset
   Set Joint Offsets
*/
DLLAPI long   ER_STDCALL erSetJointOffset(ER_HND er_hnd,double *joint_offset); // NEW_050324

/* erGetJointOffset
   Get Joint Offsets
*/
DLLAPI long   ER_STDCALL erGetJointOffset(ER_HND er_hnd,double *joint_offset); // NEW_050324

/* erSetVqMax
   Set  max. joint speed [rad/s,m/s]
*/
DLLAPI long   ER_STDCALL erSetVqMax(ER_HND er_hnd,double *vq_max);

/* erGetVqMax
   Get  max. joint speed [rad/s,m/s]
*/
DLLAPI long   ER_STDCALL erGetVqMax(ER_HND er_hnd,double *vq_max);

/* erSetAqMax
   Set  max. joint acceleration [rad/s^2,m/s^2]
*/
DLLAPI long   ER_STDCALL erSetAqMax(ER_HND er_hnd,double *aq_max);

/* erGetAqMax
   Get  max. joint acceleration [rad/s^2,m/s^2]
*/
DLLAPI long   ER_STDCALL erGetAqMax(ER_HND er_hnd,double *aq_max);

/* erSetVxMax
   Set  max. cartesian speed [m/s]
*/
DLLAPI long   ER_STDCALL erSetVxMax(ER_HND er_hnd,double vx_max);

/* erGetVxMax
   Get  max. cartesian speed [m/s]
*/
DLLAPI long   ER_STDCALL erGetVxMax(ER_HND er_hnd,double *vx_max);

/* erSetVxOriMax
   Set  max. cartesian orientation speed [rad/s]
*/
DLLAPI long   ER_STDCALL erSetVxOriMax(ER_HND er_hnd,double vx_ori_max);

/* erGetVxOriMax
   Get  max. cartesian orientation orientation speed [rad/s]
*/
DLLAPI long   ER_STDCALL erGetVxOriMax(ER_HND er_hnd,double *vx_ori_max);

/* erSetAxMax
   Set  max. cartesian acceleration [m/s^2]
*/
DLLAPI long   ER_STDCALL erSetAxMax(ER_HND er_hnd,double ax_max);

/* erGetAxMax
   Get  max. cartesian acceleration [m/s^2]
*/
DLLAPI long   ER_STDCALL erGetAxMax(ER_HND er_hnd,double *ax_max);

/* erSetAxOriMax
   Set  max. cartesian orientation acceleration [rad/s^2]
*/
DLLAPI long   ER_STDCALL erSetAxOriMax(ER_HND er_hnd,double ax_ori_max);
/* erGetAxOriMax
   Get  max. cartesian orientation acceleration [rad/s^2]
*/
DLLAPI long   ER_STDCALL erGetAxOriMax(ER_HND er_hnd,double *ax_ori_max);

/* erGetBackLink  obsolete -> use erGetBacklink(...)
   Get Back Link returns robot back link information
   *backlink = 0-KIN_BACK_LINK_NO | 1-KIN_BACK_LINK_YES | 2-KIN_BACK_LINK_UNKNOWN
   Return 0-OK,  1-Error oder Abort
*/
DLLAPI long   ER_STDCALL  erGetBackLink(ER_HND er_hnd,long *backlink); // obsolete -> use erGetBacklink(...)

/* erSetBacklink
   Set  Backlink extended attribute
*/
DLLAPI long   ER_STDCALL erSetBacklink(ER_HND er_hnd,long backlink);

/* erGetBacklink
   Get  Backlink extended attribute
*/
DLLAPI long   ER_STDCALL erGetBacklink(ER_HND er_hnd,long *backlink);

/* erSetAxis_couplingA2A3
   Set  Axis_couplingA2A3 extended attribute
*/
DLLAPI long   ER_STDCALL erSetAxis_couplingA2A3(ER_HND er_hnd,long axis_couplingA2A3);

/* erGetAxis_couplingA2A3
   Get  Axis_couplingA2A3 extended attribute
*/
DLLAPI long   ER_STDCALL erGetAxis_couplingA2A3(ER_HND er_hnd,long *axis_couplingA2A3);

/* erSetCounter_weight
   Set  Counter_weight extended attribute
*/
DLLAPI long   ER_STDCALL erSetCounter_weight(ER_HND er_hnd,long counter_weight);

/* erGetCounter_weight
   Get  Counter_weight extended attribute
*/
DLLAPI long   ER_STDCALL erGetCounter_weight(ER_HND er_hnd,long *counter_weight);

/* erSetTurn_interval
   Set  Turn_interval [rad,m]
*/
DLLAPI long   ER_STDCALL erSetTurn_interval(ER_HND er_hnd,double *turn_interval);

/* erGetTurn_interval
   Get  Turn_interval [rad,m]
*/
DLLAPI long   ER_STDCALL erGetTurn_interval(ER_HND er_hnd,double *turn_interval);

/* erSetTurn_offset
   Set  Turn_offset [rad,m]
*/
DLLAPI long   ER_STDCALL erSetTurn_offset(ER_HND er_hnd,double *turn_offset);

/* erGetTurn_offset
   Get  Turn_offset [rad,m]
*/
DLLAPI long   ER_STDCALL erGetTurn_offset(ER_HND er_hnd,double *turn_offset);

/* erSetTurn_value
   Set  Turn_value, will set turn_enable
*/
DLLAPI long   ER_STDCALL erSetTurn_value(ER_HND er_hnd,long *turn_value);

/* erGetTurn_value
   Get  Turn_value
*/
DLLAPI long   ER_STDCALL erGetTurn_value(ER_HND er_hnd,long *turn_value);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// MotionPlanner
// class ERK_CAPI_MOP
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erINITIALIZE
   Erzeugt ein Roboter Handle 
   Opcode 101,  Chapter 3.4.1,  Page 3-26
   Return 0-OK,  1-Error
   entspricht erInitKin()
*/
DLLAPI long   ER_STDCALL erINITIALIZE (ER_HND *er_hnd, Host_HND host_hnd=NULL);

/* erRESET
   Definition: Resets an instance of a robot to an initial state
   Opcode 102,  Chapter 3.4.1,  Page 3-29
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erRESET(ER_HND er_hnd);

/* erTERMINATE
   Loescht Roboter Handle 
   Definition: Terminates an instance of a robot of the Kernel 
   Opcode 103,  Chapter 3.4.1,  Page 3-30
   Return 0-OK,  1-Error
   see erUnloadKin()
*/
DLLAPI long   ER_STDCALL erTERMINATE(ER_HND *er_hnd);

/* erSET_INITIAL_POSITION
   sets the robot model to a position according to the input data
   Opcode 116,  Chapter 3.4.3,  Page 3-50
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_INITIAL_POSITION(ER_HND er_hnd, INITIAL_POSITION_DATA *p_initial_position_data);

/*erSELECT_TRACKING
   Definition:  Selects the Tracking On or Off in the Kernel
   Opcode 146,  Chapter 3.4.7,  Page 3-93
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSELECT_TRACKING(ER_HND er_hnd, long conveyor_flags);

/*erSET_CONVEYOR_POSITION
   Definition: Sends the conveyor position to the Kernel
   Opcode 147,  Chapter 3.4.7,  Page 3-94
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSET_CONVEYOR_POSITION(ER_HND er_hnd, long input_format, long conveyor_flags, double conveyor_pos);

/*erDEFINE_EVENT
   Definition:  Defines an internal asynchronous event that is to be generated relative to position and/or time in the Kernel
   Opcode 148,  Chapter 3.4.8,  Page 3-96
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erDEFINE_EVENT(ER_HND er_hnd, long event_id, long target_id, double resolution, long type_of_event, double event_spec);

/*erCANCEL_EVENT
   Definition:  This function makes it possible to cancel an event previously defined in the Kernel by the erDEFINE_EVENT() function
   Opcode 149,  Chapter 3.4.8,  Page 3-99
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erCANCEL_EVENT(ER_HND er_hnd, long event_id);

/*erGET_EVENT
   Definition: This function gets information about an internal asynchronous event that occurred in the Kernel
   Opcode 150,  Chapter 3.4.8,  Page 3-100
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erGET_EVENT(ER_HND er_hnd, long event_nr);

/*erGET_MESSAGE
   Definition: Gives information about controller messages that occurred        
   Opcode 154,  Chapter 3.4.9,  Page 3-104
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erGET_MESSAGE(ER_HND er_hnd, long message_number);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// MotionPlanner
// class ERK_CAPI_MOP_DATA
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//  Tracking Window
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* erSetTrackingWindow
   Aktiviert/Deaktiviert das Tracking Window und gibt den Trackingbereich [Up..Down] an.
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSetTrackingWindow(ER_HND er_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name=NULL);

/* erSetconveyorStartCondition
        tx0 - Offsetposition in x-Rtg. bzgl. Conveyorflanch
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSetconveyorStartCondition(ER_HND er_hnd, double tx0);

DLLAPI long   ER_STDCALL erSetEvents_DOUT(ER_HND er_hnd, int idx = 1, long io_value = ER_EVENT_BOOL_UNDEF, char *io_name = 0, long strig_type = ER_EVENT_TRIGGER_OFF, double strig_time = 0, double strig_dist = 0, long ttrig_type = ER_EVENT_TRIGGER_OFF, double ttrig_time = 0, double ttrig_dist = 0);

DLLAPI long    ER_STDCALL erSetEvents_DIN(ER_HND er_hnd, int idx = 1, long io_value = ER_EVENT_BOOL_UNDEF, char *io_name = 0, long leadcond_type = ER_EVENT_CONDITION_UNDEF, double leadcond_value = 0, long lagcond_type = ER_EVENT_CONDITION_UNDEF, double lagcond_value = 0);

//
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erSetSpeedReductionEnable
*/
DLLAPI long   ER_STDCALL erSetSpeedReductionEnable(ER_HND er_hnd,long speed_reduction_enable);

/* erGetSpeedReductionEnable
*/
DLLAPI long   ER_STDCALL erGetSpeedReductionEnable(ER_HND er_hnd,long *speed_reduction_enable);

/*erSELECT_MOTION_TYPE
        motion_type, ER_JOINT = 1, ER_LIN = 2, ER_SLEW = 3,     ER_CIRC = 4
        Opcode 120,  Chapter 3.4.4,  Page 3-58
*/
DLLAPI long   ER_STDCALL erSELECT_MOTION_TYPE(ER_HND er_hnd, long motion_type);

/*erSELECT_TARGET_TYPE
   Definition: selects one of different types for the specification of targets  
   Opcode 121,  Chapter 3.4.4,  Page 3-59
   Return 0-OK,  1-Error

   Currently supported:
   0 - absolute w.r.t. object frame
   9 - single axis motion
*/
DLLAPI long   ER_STDCALL erSELECT_TARGET_TYPE(ER_HND er_hnd, long target_type);

/*erSELECT_TRAJECTORY_MODE
   Definition:  Selects on or off for the trajectory mode
   Opcode 122,  Chapter 3.4.4,  Page 3-62
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSELECT_TRAJECTORY_MODE(ER_HND er_hnd, long trajectory_on);

/*erSET_ADVANCE_MOTION
   Definition: defines the number of motions, the motion planner may run in advance of the interpolator (look_ahead)    
   Opcode 127,  Chapter 3.4.4,  Page 3-67
*/
DLLAPI long   ER_STDCALL erSET_ADVANCE_MOTION(ER_HND er_hnd, long Number_of_motion);
/*erSET_MOTION_FILTER
   Definition: defines the filter factor for smoothing velocity profiles of motions
   Opcode 128,  Chapter 3.4.4,  Page 3-68
*/
DLLAPI long   ER_STDCALL erSET_MOTION_FILTER(ER_HND er_hnd, long filter_factor);

/*erREVERSE_MOTION
   Definition: Instructs to do a reverse motion
   Opcode 130,  Chapter 3.4.4,  Page 3-70
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erREVERSE_MOTION(ER_HND er_hnd, double distance );

/*erSET_PAYLOAD_PARAMETER
   Definition: Allows specifying payloads at different locations on the robot. 
   It has to be supported when the payload influences the motion planning. 
   E.g. the load by a tool on the flange may be specified
   Opcode 160,  Chapter 3.4.4,  Page 3-71
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_PAYLOAD_PARAMETER(ER_HND er_hnd, long storage, char *frame_id, long param_number, double param_value);

/*erSET_CONFIGURATION_CONTROL
   Definition:  Allows the setting of controller-specific data for the control of robot configurations
   Opcode 161,  Chapter 3.4.4,  Page 3-72
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_CONFIGURATION_CONTROL(ER_HND er_hnd, char *param_id, char *param_contents);

/*erSET_OVERRIDE_SPEED
   Definition: Sets correction values for scaling the programmed speed during program execution
   Opcode 139,  Chapter 3.4.5,  Page 3-82
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_OVERRIDE_SPEED(ER_HND er_hnd, double correction_value, long correction_type);

/*erSET_OVERRIDE_ACCELERATION
   Definition: Sets correction values for scaling the robot acceleration
   Opcode 155,  Chapter 3.4.5,  Page 3-83
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_OVERRIDE_ACCELERATION(ER_HND er_hnd, double correction_value, long accel_type, long correction_type);

/*erSET_OVERRIDE_SPEED_EX
   Definition:  Sets override for scaling the programmed speed during program execution
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_OVERRIDE_SPEED_EX(ER_HND er_hnd, ER_HND er_hnd_slave, double speed_override, double tcp_speed_max=0);

/*erSET_OVERRIDE_ACCELERATION_EX
   Definition:  Sets override for scaling the programmed acceleration during program execution
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_OVERRIDE_ACCELERATION_EX(ER_HND er_hnd, ER_HND er_hnd_slave, double accel_override, double tcp_accel_max=0);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// MotionPlanner
// class ERK_CAPI_MOP_PATH
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erSetAutoAccel
   Enables automatic calculation of acceleration
   depending on programmed speed
   ON = 7 – Calculation for PTP, POS and ORI
   POS = 1 – Calculation for motions for Position
   ORI = 2 – Calculation for motions for Orientation
   AX = 4 – Calculation for PTP motions
   OFF = 0 – Calculation deactivated
*/
DLLAPI long   ER_STDCALL erSetAutoAccel(ER_HND er_hnd,long autoaccel);

/* erGetAutoAccel
   Get status for automatic calculation of acceleration
   depending on programmed speed
   ON = 7 – Calculation for PTP, POS and ORI
   POS = 1 – Calculation for motions for Position
   ORI = 2 – Calculation for motions for Orientation
   AX = 4 – Calculation for PTP motions
   OFF = 0 – Calculation deactivated
*/
DLLAPI long   ER_STDCALL erGetAutoAccel(ER_HND er_hnd,long *autoaccel);

/* erSetAccSet
   Set lagging of accelerations.
   The arguments Acc and Ramp are given in percentage values in the range 20% to 100%
   Acc: Acceleration and Deceleration as percentage value of normal values
   Ramp: Change of Acceleration and Deceleration as percentage value of normal values
*/
DLLAPI long   ER_STDCALL erSetAccSet(ER_HND er_hnd,double acc,double ramp);

/* erGetAccSet
   Get current lagging of accelerations.
   The arguments Acc and Ramp are given in percentage values in the range 20% to 100%
   Acc: Acceleration and Deceleration as percentage value of normal values
   Ramp: Change of Acceleration and Deceleration as percentage value of normal values
*/
DLLAPI long   ER_STDCALL erGetAccSet(ER_HND er_hnd,double *acc,double *ramp);

/* erSET_INTERPOLATION_TIME
   sets the interpolation time in [ms]
   Opcode 119,  Chapter 3.4.3,  Page 3-56
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_INTERPOLATION_TIME(ER_HND er_hnd, double InterpolationTime);


/*erSELECT_ORIENTATION_INTERPOLATION_MODE
NEW_041112
*/
DLLAPI long   ER_STDCALL erSELECT_ORIENTATION_INTERPOLATION_MODE(ER_HND er_hnd, long interpolation_mode, long ori_const);

/*erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE
NEW_070122
   Definition:
        selects the circular orientation interpolation mode
        circ_orientation_interpolation_mode:
                0:      use Start- and Target Orientation
                1:      use Start-, Via- and Target Orientation, default 
                2:      use Start-, Via- and Target Orientation, hereby the robot reaches the orientation in Via Point
                3:  Tangential in Abhängigkeit der Orientierung im StartPunkt
                4:      Constant, Fix
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE(ER_HND er_hnd, long circ_orientation_interpolation_mode);

/*erSELECT_DOMINANT_INTERPOLATION
   Definition: Sets the interplation space defining the movement
   Opcode 124,  Chapter 3.4.4,  Page 3-66
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSELECT_DOMINANT_INTERPOLATION(ER_HND er_hnd, long dominant_int_type, long dominant_int_param=0);

/*erSET_JOINT_SPEEDS
   Definition:  
   sets the joint speed expressed as percentage of the maximal joint speed for each specified joint
   Opcode 131,  Chapter 3.4.5,  Page 3-74
*/
DLLAPI long   ER_STDCALL erSET_JOINT_SPEEDS(ER_HND er_hnd, long all_joint_flags, long joint_flags, double speed_percent);

/*erSET_CARTESIAN_POSITION_SPEED
   Definition: speed for cartesian motion [m/sec]
   Opcode 133,  Chapter 3.4.5,  Page 3-75
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_CARTESIAN_POSITION_SPEED(ER_HND er_hnd, double speed_value);

/*erSET_CARTESIAN_ORIENTATION_SPEED
   Definition: sets speed for the orientation during cartesian motion [rad/sec]
   Opcode 134,  Chapter 3.4.5,  Page 3-76
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_CARTESIAN_ORIENTATION_SPEED(ER_HND er_hnd, long rotation_no, double speed_ori_value);

/*erSET_JOINT_ACCELERATIONS
   sets the joint accelerations expressed as percentage of the maximal joint acceleration for each specified joint
   Opcode 135,  Chapter 3.4.5,  Page 3-77
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_JOINT_ACCELERATIONS(ER_HND er_hnd, long all_joint_flags, long joint_flags, double accel_percent, long accel_type);

/*erSET_CARTESIAN_POSITION_ACCELERATIONS
   Definition:  sets acceleration for cartesian motion [m/sec^2]
   Opcode 137,  Chapter 3.4.5,  Page 3-78
   accel_type
        1: // accel
        2: // decel
        3: // accel + decel
*/
DLLAPI long   ER_STDCALL erSET_CARTESIAN_POSITION_ACCELERATION(ER_HND er_hnd, double accel_value, long accel_type);

/*erSET_CARTESIAN_ORIENTATION_ACCELERATION
   Definition:  sets the acceleration for the orientation during cartesian motion [rad/sec^2]
   Opcode 138,  Chapter 3.4.5,  Page 3-79
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_CARTESIAN_ORIENTATION_ACCELERATION(ER_HND er_hnd, long rotation_no, double accel_ori_value, long accel_type);

/*erGET_CARTESIAN_POSITION_ACCELERATIONS
   Definition:  gets acceleration for cartesian motion [m/sec^2]
   accel_type
        1: // accel
        2: // decel
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erGET_CARTESIAN_POSITION_ACCELERATION(ER_HND er_hnd, double *accel_value, long accel_type);

/*erGET_CARTESIAN_ORIENTATION_ACCELERATION
   Definition:  Gets the acceleration for the orientation during cartesian motion [rad/sec^2]
   accel_type
        1: // accel
        2: // decel
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erGET_CARTESIAN_ORIENTATION_ACCELERATION(ER_HND er_hnd, long rotation_no, double *accel_ori_value, long accel_type);

/*erSET_JOINT_JERKS
   Definition: Sets the joint jerk expressed as a percentage of the maximal joint jerk for each specified joint.
   Opcode 162,  Chapter 3.4.5,  Page 3-80
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_JOINT_JERKS(ER_HND er_hnd, long all_joint_flags, long joint_flags, double jerk_percent, long jerk_type);

/*erSET_MOTION_TIME
   Definition: Specifies the motion time for the next motion
   Opcode 156,  Chapter 3.4.5,  Page 3-81
   Return 0-OK,  1-Error, -1-not supported
*/
DLLAPI long   ER_STDCALL erSET_MOTION_TIME(ER_HND er_hnd, double time_value);


/*erSELECT_FLYBY_MODE
*/
DLLAPI long   ER_STDCALL erSELECT_FLYBY_MODE(ER_HND er_hnd, long flyby_on);

/*erSET_FLYBY_CRITERIA_PARAMETER
   Definition: Sets the value of a flyby parameter
   Opcode 141,  Chapter 3.4.6,  Page 3-86
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSET_FLYBY_CRITERIA_PARAMETER(ER_HND er_hnd, long param_number, long joint_nr, double param_value);

/*erSELECT_FLYBY_CRITERIA
   Definition:  Selects a flyby criterion (parameter)
   Opcode 142,  Chapter 3.4.6,  Page 3-87
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSELECT_FLYBY_CRITERIA(ER_HND er_hnd, long param_number);

/*erCANCEL_FLYBY_CRITERIA
   Definition: Cancels (unselects) a fly-by criterion   
   Opcode 143,  Chapter 3.4.6,  Page 3-88
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erCANCEL_FLYBY_CRITERIA(ER_HND er_hnd, long param_number);

/*erSELECT_POINT_ACCURACY
   Definition: Selects a criterion for when a target is reached
   Opcode 144,  Chapter 3.4.6,  Page 3-89
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSELECT_POINT_ACCURACY(ER_HND er_hnd, long accuracy_type);

/*erSET_POINT_ACCURACY_PARAMETER
   Definition:  Sets the value of a parameter determining point accuracy
   Opcode 145,  Chapter 3.4.6,  Page 3-90
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSET_POINT_ACCURACY_PARAMETER(ER_HND er_hnd, long accuracy_type, double accuracy_value );

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// MotionPlanner
// class ERK_CAPI_MOP_PREP
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erSET_NEXT_TARGET
   sends the next target position. This may include intermediate position, radius, angle for circular motion
   Opcode 117,  Chapter 3.4.3,  Page 3-52
   Return
   1  - need more data, nothing to do
   0  - OK, next step is calculated successful
   -17 - specified motion type is not supported
   -34 - Error in matrix. Incomplete matrix
   -35 - Cartesian position expected
   -36 - Joint position expected
   -43 - Initial position not set
   -51 - no solution is found. One joint is out of range
   -52 - Cartesian position is out of work range
   -59 - specified position is singular
   -68 - fatal error, stopped calculating
   -71 - Position not stored, target buffer is full
   -78 - The specified position is not acceptable
   -79 - Not ready to receive targets
*/
DLLAPI long   ER_STDCALL erSET_NEXT_TARGET(ER_HND er_hnd, NEXT_TARGET_DATA *p_next_target_data);

/* erSET_NEXT_TARGET_ADVANCE
        Definition: Sends about next target data
        Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSET_NEXT_TARGET_ADVANCE(ER_HND er_hnd, NEXT_TARGET_DATA_ADVANCE *p_next_target_data_advance);

/*erSTOP_MOTION
   Definition:  Stops the on-going motion toward the target
   Opcode 151,  Chapter 3.4.8,  Page 3-101
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erSTOP_MOTION(ER_HND er_hnd);

/*erCONTINUE_MOTION
   Definition:  Continues a motion that was stopped with the erSTOP_MOTION() function
   Opcode 152,  Chapter 3.4.8,  Page 3-102
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erCONTINUE_MOTION(ER_HND er_hnd);

/*erCANCEL_MOTION
   Definition:  Cancel a motion that was stopped with erSTOP_MOTION() function
   Opcode 153,  Chapter 3.4.8,  Page 3-103
   Return 0-OK,  1-Error
*/
DLLAPI long   ER_STDCALL erCANCEL_MOTION(ER_HND er_hnd);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// MotionPlanner
// class ERK_CAPI_MOP_EXEC
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/* erGET_NEXT_STEP
   returns the next interpolated position step, the
   elapsed time and supplementary information like events, joint limits and messages
   Opcode 118,  Chapter 3.4.3,  Page 3-54
   Return
   2  - final step, target reached or speed is zero
   1  - need more data, nothing to do
   0  - OK, next step is calculated successful
   -13 - the specified output format is not supported
   -17 - the specified motion type is not supported
   -25 - the motion is not possible in the specified time
   -42 - no target set
   -51 - no solution is found. One joint is out of range
   -52 - Cartesian position is out of work range
   -68 - fatal error, stopped calculating
   -76 - incomplete or inconsistent motion specification, can't move
   -1053 - Cartesian position is out of boudary work range
   -1059 - Cartesian position is singular
*/
DLLAPI long   ER_STDCALL erGET_NEXT_STEP(ER_HND er_hnd, long output_format, NEXT_STEP_DATA *p_next_step_data, double time);

DLLAPI long   ER_STDCALL erGetCurrentStepData(ER_HND er_hnd, CURRENT_STEP_DATA *p_current_step_data);

/*erSET_OVERRIDE_POSITION
   Definition: Sets a correction offset which will be added to the path during program execution
   This function can be used for sensor-compensated motion. It is effective at each time step. The passed value is valid until the function is called again.
   Opcode 129,  Chapter 3.4.4,  Page 3-69
   Return 0-OK,  1-Error, -1- not supported
*/
DLLAPI long   ER_STDCALL erSET_OVERRIDE_POSITION(ER_HND er_hnd, DFRAME *PosOffset);

/*erGET_CURRENT_TARGETID
   Definition:  Returns the TargetID of the motion in execution
   Opcode 163,  Chapter 3.4.6,  Page 3-91
   Return 0-OK,  1-Error
*/
DLLAPI TErTargetID   ER_STDCALL erGET_CURRENT_TARGETID(ER_HND er_hnd);

#pragma endregion region_erk_devices

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// ToolPath
// class ERK_CAPI_TOOLPATH
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

#pragma region region_CTOOLPATH
#pragma region region_toolpath

DLLAPI long ER_STDCALL erInitToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd);

DLLAPI long ER_STDCALL erUnloadToolPath (ER_TOOLPATH_HND *er_tpth_hnd);

DLLAPI long ER_STDCALL erInsertToolPath (ER_HND er_hnd, ER_TOOLPATH_HND *er_tpth_hnd, ER_TOOLPATH_HND er_tpth_hnd_ref);

DLLAPI long ER_STDCALL erSwapToolPath (ER_TOOLPATH_HND er_tpth_hnd1, ER_TOOLPATH_HND er_tpth_hnd2);

DLLAPI long ER_STDCALL erToolPathGetTargetLocationNumber (ER_TOOLPATH_HND er_tpth_hnd);         // Number of Targets in ToolPath

DLLAPI ER_HND ER_STDCALL erToolPathGetER_HND (ER_TOOLPATH_HND er_tpth_hnd);                                     // Device Handle belonging to tool path handle

DLLAPI char* ER_STDCALL erToolPathName (ER_TOOLPATH_HND er_tpth_hnd);                                           // Name ToolPath

DLLAPI long ER_STDCALL erToolPathEnable (ER_TOOLPATH_HND er_tpth_hnd, long enable);                     // 0-Disable, 1-Enable, 2-Status

DLLAPI ER_HND ER_STDCALL erToolPathGetRobotHandle (ER_TOOLPATH_HND er_tpth_hnd);                        // Get Robot Handle belonging to tool path handle

DLLAPI ER_HND ER_STDCALL erToolPathGetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd);          // Get TrackMotion Handle belonging to tool path handle

DLLAPI ER_HND ER_STDCALL erToolPathGetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd);                                           // Get Positioner Handle belonging to tool path handle

DLLAPI ER_HND ER_STDCALL erToolPathGetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd);                                                     // Get Conveyor Handle belonging to tool path handle

DLLAPI long ER_STDCALL erToolPathSetTrackMotionHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_TrackMotion=NULL);       // Set TrackMotion Handle belonging to tool path handle
DLLAPI long ER_STDCALL erToolPathSetPositionerHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Positioner=NULL);         // Set Positioner Handle belonging to tool path handle
DLLAPI long ER_STDCALL erToolPathSetConveyorHandle (ER_TOOLPATH_HND er_tpth_hnd, ER_HND hnd_Conveyor=NULL);                     // Set Conveyor Handle belonging to tool path handle

DLLAPI char* ER_STDCALL erToolPathLogFileName (ER_TOOLPATH_HND er_tpth_hnd);                            // Log File Name ToolPath
DLLAPI char* ER_STDCALL erToolPathPrgFileName (ER_TOOLPATH_HND er_tpth_hnd);                            // Prg File Name ToolPath

DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erToolPathGetTargetLocationFirst (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erToolPathGetTargetLocationLast (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL CpyEventsTemplate(ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EVENTS_HND hnd);        // Copy target events data to template
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL GetEventsTemplateHnd(ER_TOOLPATH_HND er_tpth_hnd);       // Get handle to internal events template data 

DLLAPI long ER_STDCALL CpyMotionAttributesTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_ATTRIBUTES_HND hnd); // Copy target attributes data to template

DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL GetMotionAttributesTemplateHnd (ER_TOOLPATH_HND er_tpth_hnd);        // Get handle to internal attributes template data 

DLLAPI long ER_STDCALL CpyMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_JOINT_HND hnd);

DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL GetMoveJointTemplate (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL CpyMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_MOVE_CP_HND hnd);

DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL GetMoveCPTemplate (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL CpyExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd);

DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL GetExtAxTrackMotionTemplate (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL CpyExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd);

DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL GetExtAxPositionerTemplate (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL CpyExtAxConveyorTemplate(ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd);

DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL GetExtAxConveyorTemplate(ER_TOOLPATH_HND er_tpth_hnd);


DLLAPI long ER_STDCALL erToolPathReset (ER_TOOLPATH_HND er_tpth_hnd);   // Reset all tool path target locations

DLLAPI long ER_STDCALL erToolPathResetInitRobot(ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL);                     // Read current joint data from loaded robot, set initial joint start location 

DLLAPI long ER_STDCALL erToolPathResetInitTrackMotion(ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL);       // Read current joint data from loaded TrackMotion, set initial joint start location 

DLLAPI long ER_STDCALL erToolPathResetInitPositioner(ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL);        // Read current joint data from loaded Positioner, set initial joint start location

DLLAPI long ER_STDCALL erToolPathResetInitConveyor(ER_TOOLPATH_HND er_tpth_hnd, double *q_start=NULL);          // Read current joint data from loaded Conveyor, set initial joint start location

DLLAPI long ER_STDCALL erToolPathSetInitPos(ER_TOOLPATH_HND er_tpth_hnd, double InterpolationTime=0);           // Initializes the MotionPlanner based on current settings

//DLLAPI long ER_STDCALL erToolPathRunAdv (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP_INIT(ER_TOOLPATH_HND er_tpth_hnd, long cntrl=ER_MOP_GNTPS_CNTRL_INIT);

DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP(ER_TOOLPATH_HND er_tpth_hnd, long cntrl, NEXT_STEP_DATA *p_next_step_data=NULL, double time=0);

DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGET_NEXT_TOOLPATH_STEP_cTargetLocation (ER_TOOLPATH_HND er_tpth_hnd);

DLLAPI long ER_STDCALL erGET_NEXT_TOOLPATH_STEP_TERMINATE(ER_TOOLPATH_HND er_tpth_hnd);

//DLLAPI long ER_STDCALL erToolPathDefinition (ER_TOOLPATH_HND er_tpth_hnd);    // erzeugt einige TargetLocations

#pragma endregion region_toolpath

//--------------------------------
// Target Location ... ERK_CAPI_TOOLPATH_TARGETS
//--------------------------------

#pragma region region_TargetLocations

// Target Locations
DLLAPI long ER_STDCALL erTargetLocationReset (ER_TARGET_LOCATION_HND er_tarloc_hnd);    // Reset target location

DLLAPI long ER_STDCALL erAddTargetLocation (ER_TOOLPATH_HND er_tpth_hnd,ER_TARGET_LOCATION_HND *er_tarloc_hnd);
DLLAPI long ER_STDCALL erInsertTargetLocation (ER_TOOLPATH_HND er_tpth_hnd, ER_TARGET_LOCATION_HND *er_tarloc_hnd, ER_TARGET_LOCATION_HND er_tarloc_hnd_ref=NULL);
DLLAPI long ER_STDCALL erUnloadTargetLocation (ER_TARGET_LOCATION_HND *er_tarloc_hnd);
DLLAPI long ER_STDCALL erSwapTargetLocation (ER_TARGET_LOCATION_HND er_tarloc_hnd1, ER_TARGET_LOCATION_HND er_tarloc_hnd2);

DLLAPI long ER_STDCALL erGetTargetLocationNumber (ER_TARGET_LOCATION_HND er_tarloc_hnd);        // Number of Targets in ToolPath
DLLAPI ER_HND ER_STDCALL erhGetTargetLocationER_HND (ER_TARGET_LOCATION_HND er_tarloc_hnd);     // Device Handle belonging to target location handle

DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationFirst (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationLast (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationNext (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI ER_TARGET_LOCATION_HND ER_STDCALL erGetTargetLocationPrev (ER_TARGET_LOCATION_HND er_tarloc_hnd);

DLLAPI long ER_STDCALL erSetTargetLocation_Move_JointAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd,double *JointPos,double speed_percent=0, double override_speed=0, double *Tool=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Joint (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Joint_Frame(ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration = 0, long ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent = 0, double override_speed = 0, DFRAME *ToolFrame = 0, DFRAME *BaseFrame = 0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_SlewAbs (ER_TARGET_LOCATION_HND er_tarloc_hnd,double *JointPos,double speed_percent=0, double override_speed=0, double *Tool=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Slew (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, long configuration=0, long ptp_target_calculation_mode=ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent=0, double override_speed=0, double *Tool=0, double *Base=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_Slew_Frame(ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, long configuration = 0, long ptp_target_calculation_mode = ER_PTP_TARGET_CALC_MODE_UNDEF, double speed_percent = 0, double override_speed = 0, DFRAME *ToolFrame = 0, DFRAME *BaseFrame = 0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_LIN (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVec, double speed_cp=0, double speed_ori=0,  double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_LIN_Frame(ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrame, double speed_cp = 0, double speed_ori = 0, double override_speed = 0, long flyby_on = -1, DFRAME *ToolFrame = 0, DFRAME *BaseFrame = 0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_CIRC (ER_TARGET_LOCATION_HND er_tarloc_hnd, double *CartPosVecVia, double *CartPosVec, double speed_cp=0, double speed_ori=0,  double override_speed=0, long flyby_on=-1, double *Tool=0, double *Base=0);
DLLAPI long ER_STDCALL erSetTargetLocation_Move_CIRC_Frame(ER_TARGET_LOCATION_HND er_tarloc_hnd, DFRAME *CartPosFrameVia, DFRAME *CartPosFrame, double speed_cp = 0, double speed_ori = 0, double override_speed = 0, long flyby_on = -1, DFRAME *ToolFrame = 0, DFRAME *BaseFrame = 0);
//DLLAPI long ER_STDCALL erSetTargetLocation_ExtAx_TrackMotion (ER_TARGET_LOCATION_HND er_tarloc_hnd, double axis_value_01, double speed_value_01=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0);
//DLLAPI long ER_STDCALL erSetTargetLocation_ExtAx_Positioner (ER_TARGET_LOCATION_HND er_tarloc_hnd, double axis_value_01,double axis_value_02, double speed_value_01=0, double speed_value_02=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0);

#pragma endregion region_TargetLocations

//--------------------------------
// Header Data ... TARGET_HEAD, ERK_CAPI_TOOLPATH_HEAD
//--------------------------------
#pragma region region_HeaderData

        // Header Data
DLLAPI ER_TARGET_HEAD_HND ER_STDCALL erGetTargetLocationHeaderDataHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI ER_TOOLPATH_HND ER_STDCALL erGetTargetLocationToolPathHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long ER_STDCALL erGetTargetLocationIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI char* ER_STDCALL erGetTargetLocationName (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI char* ER_STDCALL erGetTargetLocationNameVia (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long ER_STDCALL erTargetLocationValid (ER_TARGET_LOCATION_HND er_tarloc_hnd, long valid);                        // 0-Disable, 1-Enable, 2-Status
#pragma endregion region_HeaderData

//------------------------------------------------------------------------------
// Instructions, individual information text  ... TARGET_INSTRUCTIONS
//------------------------------------------------------------------------------
#pragma region region_Instructions

DLLAPI ER_TARGET_INSTRUCTIONS_HND ER_STDCALL erGetTargetLocationInstructionsHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI char *ER_STDCALL erGetInstructions_information (ER_TARGET_LOCATION_HND er_tarloc_hnd);                           // User defined individual information text
DLLAPI char *ER_STDCALL erGetInstructions_LeadInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd);              // Instructions separated by semicolon, when target is reached
DLLAPI char *ER_STDCALL erGetInstructions_LagInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd);                       // Instructions separated by semicolon, before move will start
DLLAPI int ER_STDCALL erSetInstructions (ER_TARGET_LOCATION_HND er_tarloc_hnd, char *InfoTxt=NULL, char *LeadInst=NULL, char *LagInst=NULL);    // Set Instructions: information text, LeadInstructions, LagInstructions
#pragma endregion region_Instructions

//--------------------------------
// Events ... TARGET_EVENTS
//--------------------------------
#pragma region region_Events

        // Events
DLLAPI ER_TARGET_EVENTS_HND ER_STDCALL erGetTargetLocationEventsHnd(ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long ER_STDCALL erSetEvents_EventDOUT(ER_TARGET_EVENTS_HND hnd, int idx = 1, long io_value = ER_EVENT_BOOL_UNDEF, char *io_name = 0, long strig_type = ER_EVENT_TRIGGER_OFF, double strig_time = 0, double strig_dist = 0, long ttrig_type = ER_EVENT_TRIGGER_OFF, double ttrig_time = 0, double ttrig_dist = 0);
DLLAPI long ER_STDCALL erGetEvents_EventDOUT(ER_TARGET_EVENTS_HND hnd, int idx, long *io_value, char *io_name, long *strig_type, double *strig_time, double *strig_dist, long *ttrig_type, double *ttrig_time, double *ttrig_dist);

DLLAPI long ER_STDCALL erSetEvents_EventDIN (ER_TARGET_EVENTS_HND hnd, int idx = 1, long io_value = ER_EVENT_BOOL_UNDEF, char *io_name = 0, long leadcond_type = ER_EVENT_CONDITION_UNDEF, double leadcond_value = 0, long lagcond_type = ER_EVENT_CONDITION_UNDEF, double lagcond_value = 0);

#pragma endregion region_Events

//--------------------------------
// Auxiliary Motion Attributes ... TARGET_ATTRIBUTES_AUX
//--------------------------------
#pragma region region_AuxMotionAttributes

        // Auxiliary Motion Attributes
DLLAPI ER_TARGET_ATTRIBUTES_AUX_HND ER_STDCALL erGetTargetLocationMotionAttributesAuxHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);

#pragma endregion region_AuxMotionAttributes

//--------------------------------
// Motion Attributes ... TARGET_ATTRIBUTES
//--------------------------------
#pragma region region_MotionAttributes
        // Motion Attributes
DLLAPI ER_TARGET_ATTRIBUTES_HND ER_STDCALL erGetTargetLocationMotionAttributesHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long *ER_STDCALL erGetMotionAttributes_enabled (ER_TARGET_ATTRIBUTES_HND hnd);           // enables/disables this target
DLLAPI TErTargetID *ER_STDCALL erGetMotionAttributes_target_id (ER_TARGET_ATTRIBUTES_HND hnd);                  // unique target ID, NEXT_TARGET_DATA.TargetID
DLLAPI double *ER_STDCALL erGetMotionAttributes_WobjCartPosVec(ER_TARGET_ATTRIBUTES_HND hnd);                   // WorkObject valid for all cartesian targets CartPosVec, CartPosVecVia
DLLAPI DFRAME *ER_STDCALL erGetMotionAttributes_WobjCartPosFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame);                       // WorkObject valid for all cartesian targets CartPosVec, CartPosVecVia
DLLAPI DFRAME *ER_STDCALL erSetMotionAttributes_WobjCartPosFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *WobjCartPosFrame);                       // WorkObject valid for all cartesian targets CartPosVec, CartPosVecVia

DLLAPI long *ER_STDCALL erGetMotionAttributes_ext_tcp_mode (ER_TARGET_ATTRIBUTES_HND hnd);                              // The external TCP can be ::IPO_MODE_BASE (tool guided) or ::IPO_MODE_TOOL (work object guided), erSetExtTcpMode()
DLLAPI double *ER_STDCALL erGetMotionAttributes_BaseVec(ER_TARGET_ATTRIBUTES_HND hnd);                                  // work object, $BASE, $UFrame has only effect if ::IPO_MODE_BASE, erSetBaseRobotBase()

DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_BaseFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame);                                    // work object, $BASE, $UFrame has only effect if ::IPO_MODE_BASE, erSetBaseRobotBase()
DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_BaseFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *BaseFrame);                                    // work object, $BASE, $UFrame has only effect if ::IPO_MODE_BASE, erSetBaseRobotBase()

DLLAPI long *ER_STDCALL erGetMotionAttributes_BaseIdx (ER_TARGET_ATTRIBUTES_HND hnd);                                   // user defined Idx for work object, $BASE, $UFrame has only effect if ::IPO_MODE_BASE, erSetBaseRobotBase()
DLLAPI char *ER_STDCALL erGetMotionAttributes_BaseName (ER_TARGET_ATTRIBUTES_HND hnd);                                  // user defined Name for work object, $BASE, $UFrame has only effect if ::IPO_MODE_BASE, erSetBaseRobotBase()


DLLAPI double *ER_STDCALL erGetMotionAttributes_extTcpBaseVec(ER_TARGET_ATTRIBUTES_HND hnd);
DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_extTcpBaseFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame);
DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_extTcpBaseFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpBaseFrame);


DLLAPI long *ER_STDCALL erGetMotionAttributes_extTcpBaseIdx(ER_TARGET_ATTRIBUTES_HND hnd);
DLLAPI char *ER_STDCALL erGetMotionAttributes_extTcpBaseName(ER_TARGET_ATTRIBUTES_HND hnd);


DLLAPI double *ER_STDCALL erGetMotionAttributes_extTcpWorldVec(ER_TARGET_ATTRIBUTES_HND hnd);

DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_extTcpWorldFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame);

DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_extTcpWorldFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpWorldFrame);

DLLAPI long *ER_STDCALL erGetMotionAttributes_extTcpWorldIdx(ER_TARGET_ATTRIBUTES_HND hnd);
DLLAPI char *ER_STDCALL erGetMotionAttributes_extTcpWorldName(ER_TARGET_ATTRIBUTES_HND hnd);

DLLAPI double *ER_STDCALL erGetMotionAttributes_extTcpOffsetVec(ER_TARGET_ATTRIBUTES_HND hnd);
DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_extTcpOffsetFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame);
DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_extTcpOffsetFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *extTcpOffsetFrame);

DLLAPI long *ER_STDCALL erGetMotionAttributes_extTcpOffsetIdx(ER_TARGET_ATTRIBUTES_HND hnd);    
DLLAPI char *ER_STDCALL erGetMotionAttributes_extTcpOffsetName(ER_TARGET_ATTRIBUTES_HND hnd);

                                                                                                                                                                                                                
DLLAPI double *ER_STDCALL erGetMotionAttributes_ToolVec (ER_TARGET_ATTRIBUTES_HND hnd);                                 // Tool/TCP data, erSetTool()

DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_ToolFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame);

DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_ToolFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolFrame);


DLLAPI long *ER_STDCALL erGetMotionAttributes_ToolIdx (ER_TARGET_ATTRIBUTES_HND hnd);                                   // user defined Idx for Tool/TCP data, erSetTool()
DLLAPI char *ER_STDCALL erGetMotionAttributes_ToolName (ER_TARGET_ATTRIBUTES_HND hnd);                                  // user defined Name for Tool/TCP data, erSetTool()

DLLAPI double *ER_STDCALL erGetMotionAttributes_ToolOffsetVec(ER_TARGET_ATTRIBUTES_HND hnd);                            // Tool/TCP offset data, erSetToolOffset()
DLLAPI DFRAME  *ER_STDCALL erGetMotionAttributes_ToolOffsetFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame);
DLLAPI DFRAME  *ER_STDCALL erSetMotionAttributes_ToolOffsetFrame(ER_TARGET_ATTRIBUTES_HND hnd, DFRAME *ToolOffsetFrame);


DLLAPI long *ER_STDCALL erGetMotionAttributes_ToolOffsetIdx(ER_TARGET_ATTRIBUTES_HND hnd);                                      // user defined Idx for Tool/TCP offset data, erSetToolOffset()
DLLAPI char *ER_STDCALL erGetMotionAttributes_ToolOffsetName(ER_TARGET_ATTRIBUTES_HND hnd);                                     // user defined Name for Tool/TCP offset data, erSetToolOffset()

DLLAPI long *ER_STDCALL erGetMotionAttributes_speed_reduction_enable(ER_TARGET_ATTRIBUTES_HND hnd);

DLLAPI long *ER_STDCALL erGetMotionAttributes_motype (ER_TARGET_ATTRIBUTES_HND hnd);                                    // ER_JOINT , ER_LIN, ER_SLEW, ER_CIRC, erSELECT_MOTION_TYPE()
DLLAPI long *ER_STDCALL erGetMotionAttributes_dom_type (ER_TARGET_ATTRIBUTES_HND hnd);                                  // 1-ER_DOMINANT_INTERPOLATION_POS, 2-ER_DOMINANT_INTERPOLATION_ORI, 3-ER_DOMINANT_INTERPOLATION_AXIS, 4-ER_DOMINANT_INTERPOLATION_AUTO, erSELECT_DOMINANT_INTERPOLATION()
DLLAPI long *ER_STDCALL erGetMotionAttributes_advance_motion (ER_TARGET_ATTRIBUTES_HND hnd);                    // look ahead by 1 is only supported, erSET_ADVANCE_MOTION()
DLLAPI double *ER_STDCALL erGetMotionAttributes_override_speed (ER_TARGET_ATTRIBUTES_HND hnd);                  // [%] Sets correction values for scaling the programmed speed, becomes effective for the next target supplied by erSET_NEXT_TARGET, erSET_OVERRIDE_SPEED()
DLLAPI double *ER_STDCALL erGetMotionAttributes_acc (ER_TARGET_ATTRIBUTES_HND hnd);                                             // 20-100[%] Set lagging of accelerations deceleration, erSetAccSet()
DLLAPI double *ER_STDCALL erGetMotionAttributes_ramp (ER_TARGET_ATTRIBUTES_HND hnd);                                    // 20-100[%] Set lagging of accelerations deceleration, erSetAccSet()
DLLAPI long *ER_STDCALL erGetMotionAttributes_filter_factor (ER_TARGET_ATTRIBUTES_HND hnd);                             // Velocity profile: 0-geo (ER_MOTION_FILTER_GEO),  1-c2 (ER_MOTION_FILTER_C2), erSET_MOTION_FILTER()
DLLAPI long *ER_STDCALL erGetMotionAttributes_flyby_on (ER_TARGET_ATTRIBUTES_HND hnd);                                  // 0-OFF, 1-ON only when LIN or CIRC, erSELECT_FLYBY_MODE()
DLLAPI double *ER_STDCALL erGetMotionAttributes_flyby_speed_percent (ER_TARGET_ATTRIBUTES_HND hnd);             // if flyby_on enabled: [%], erSET_FLYBY_CRITERIA_PARAMETER(), tbd
DLLAPI double *ER_STDCALL erGetMotionAttributes_flyby_dist (ER_TARGET_ATTRIBUTES_HND hnd);                              // if flyby_on enabled: [m], erSET_FLYBY_CRITERIA_PARAMETER(), tbd
DLLAPI long *ER_STDCALL erGetMotionAttributes_autoaccel (ER_TARGET_ATTRIBUTES_HND hnd);                                 // ER_AUTOACCEL_MODE_OFF, -_POS, -_ORI, -_AX, -_DEF, -_ON, erSetAutoAccel()
DLLAPI double *ER_STDCALL erGetMotionAttributes_LeadWaitTime (ER_TARGET_ATTRIBUTES_HND hnd);                    // Wait time [s], before move will start, NEXT_TARGET_DATA.LeadWaitTime
DLLAPI double *ER_STDCALL erGetMotionAttributes_LagWaitTime (ER_TARGET_ATTRIBUTES_HND hnd);                             // Wait time [s], after robot reaches its target, NEXT_TARGET_DATA.LagWaitTime

#pragma endregion region_MotionAttributes

//--------------------------------
// Target data for Joint Move  ... ERK_CAPI_TOOLPATH_MOVE_JOINT
//--------------------------------
#pragma region region_MoveJoint

DLLAPI ER_TARGET_MOVE_JOINT_HND ER_STDCALL erGetTargetLocationMoveJointHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long *ER_STDCALL erGetMoveJoint_target_type (ER_TARGET_MOVE_JOINT_HND hnd);                                              // ER_TARGET_TYPE_ABS, ER_TARGET_TYPE_ABSJOINT, erSELECT_TARGET_TYPE()
DLLAPI double *ER_STDCALL erGetMoveJoint_speed_percent (ER_TARGET_MOVE_JOINT_HND hnd);                                  // joint speed [%], erSET_JOINT_SPEEDS()
DLLAPI double *ER_STDCALL erGetMoveJoint_accel_percent (ER_TARGET_MOVE_JOINT_HND hnd);                                  // joint acceleration [%], erSET_JOINT_ACCELERATIONS()
DLLAPI double *ER_STDCALL erGetMoveJoint_JointPos (ER_TARGET_MOVE_JOINT_HND hnd);                                               // Target Joint Location for ER_TARGET_TYPE_ABSJOINT, q1 [m,rad], NEXT_TARGET_DATA.JointPos
DLLAPI double *ER_STDCALL erGetMoveJoint_CartPosVec (ER_TARGET_MOVE_JOINT_HND hnd);                                             // Cart. Target Location for ER_TARGET_TYPE_ABS, Pxyz [m] Rxyz [rad], NEXT_TARGET_DATA.CartPos
DLLAPI long *ER_STDCALL erGetMoveJoint_configuration (ER_TARGET_MOVE_JOINT_HND hnd);                                    // Target manipulator configuration string, NEXT_TARGET_DATA.Configuration
DLLAPI long *ER_STDCALL erGetMoveJoint_ptp_target_calculation_mode (ER_TARGET_MOVE_JOINT_HND hnd);              // PTP target calculation mode, ::ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ::ER_PTP_TARGET_CALC_MODE_TURNS, ::ER_PTP_TARGET_CALC_MODE_MATH, ::ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ::ER_PTP_TARGET_CALC_MODE_VAR_CONFIG, NEXT_TARGET_DATA.ptp_target_calculation_mode
DLLAPI long *ER_STDCALL erGetMoveJoint_turn_value (ER_TARGET_MOVE_JOINT_HND hnd);                                               // Target turn values if ::ER_PTP_TARGET_CALC_MODE_TURNS is enabled, NEXT_TARGET_DATA.turn_value[]

#pragma endregion region_MoveJoint

//--------------------------------
// Target data for CP Move ... ERK_CAPI_TOOLPATH_MOVE_CP
//--------------------------------
#pragma region region_MoveCP

DLLAPI ER_TARGET_MOVE_CP_HND ER_STDCALL erGetTargetLocationMoveCPHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long *ER_STDCALL erGetMoveCP_target_type (ER_TARGET_MOVE_CP_HND hnd);                                                    // ER_TARGET_TYPE_ABS
DLLAPI double *ER_STDCALL erGetMoveCP_speed_cp (ER_TARGET_MOVE_CP_HND hnd);                                                             // cp speed [m/s], ori speed [deg/s], erSET_CARTESIAN_POSITION_SPEED(), erSET_CARTESIAN_ORIENTATION_SPEED()
DLLAPI double *ER_STDCALL erGetMoveCP_speed_ori (ER_TARGET_MOVE_CP_HND hnd);                                                    // cp speed [m/s], ori speed [deg/s], erSET_CARTESIAN_POSITION_SPEED(), erSET_CARTESIAN_ORIENTATION_SPEED()
DLLAPI double *ER_STDCALL erGetMoveCP_accel_cp (ER_TARGET_MOVE_CP_HND hnd);                                                             // cp accel [m/s^2], [deg/s^2], erSET_CARTESIAN_POSITION_ACCELERATION(), erSET_CARTESIAN_ORIENTATION_ACCELERATION()
DLLAPI double *ER_STDCALL erGetMoveCP_accel_ori (ER_TARGET_MOVE_CP_HND hnd);                                                    // cp accel [m/s^2], [deg/s^2], erSET_CARTESIAN_POSITION_ACCELERATION(), erSET_CARTESIAN_ORIENTATION_ACCELERATION()
DLLAPI double *ER_STDCALL erGetMoveCP_CartPosVec (ER_TARGET_MOVE_CP_HND hnd);                                                   // Cart. Target Location for ER_LIN and ER_CIRC move, Pxyz [m] Rxyz [rad], NEXT_TARGET_DATA.CartPos
DLLAPI double *ER_STDCALL erGetMoveCP_CartPosVecVia (ER_TARGET_MOVE_CP_HND hnd);                                                // Cart. Via Location for ER_CIRC move, Pxyz [m] Rxyz [rad], NEXT_TARGET_DATA.CartPos
DLLAPI long *ER_STDCALL erGetMoveCP_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd);                                             // =1 one angle (QUATERNION), =2 two angle (QUATERNION), =3 three angle (VARIABLE), erSELECT_ORIENTATION_INTERPOLATION_MODE()
DLLAPI long *ER_STDCALL erGetMoveCP_circ_orientation_interpolation_mode (ER_TARGET_MOVE_CP_HND hnd);    // ::ER_CIRC_ORI_INTERPOLATION_START_END ... ::ER_CIRC_ORI_INTERPOLATION_FIX, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()
#pragma endregion region_MoveCP

//--------------------------------
// Motion execution data at target ... ERK_CAPI_TOOLPATH_MOTION_EXEC
//--------------------------------
#pragma region region_MotionExec

DLLAPI ER_TARGET_MOTION_EXEC_HND ER_STDCALL erGetTargetLocationMotionExecHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long ER_STDCALL erGetMotionExec_motion_success (ER_TARGET_MOTION_EXEC_HND hnd);          // 1 - TARGET_LOCATION reached successfully, 0 - TARGET_LOCATION not reached successfully
DLLAPI double ER_STDCALL erGetMotionExec_time_stamp (ER_TARGET_MOTION_EXEC_HND hnd);            // Time stamp [s] when target location is reached
DLLAPI double ER_STDCALL erGetMotionExec_trajectory_time (ER_TARGET_MOTION_EXEC_HND hnd);       // Trajectory Time [s] for current motion to target
DLLAPI long ER_STDCALL erGetMotionExec_configuration (ER_TARGET_MOTION_EXEC_HND hnd);           // current manipulator configuration at target location, [1..number of robot configurations]
DLLAPI double *ER_STDCALL erGetMotionExec_JointPos (ER_TARGET_MOTION_EXEC_HND hnd);                     // Joint Location at target location
DLLAPI double *ER_STDCALL erGetMotionExec_ExtAxValues (ER_TARGET_MOTION_EXEC_HND hnd);          // External axis  values at target location
#pragma endregion region_MotionExec

//--------------------------------
// External axis data definition for Track/Slider-Motion ... ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION
//--------------------------------
#pragma region region_ExtAxTrack
        // External axis data definition for Track/Slider-Motion
DLLAPI ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND ER_STDCALL erGetTargetLocationExtAxTrackHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long *ER_STDCALL erGetExtAxTrack_number_extax_used (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd);         // Number of "used" external axis. Note: The total number of external axis must not exceed ER_EXTAX_KIN_DATA_MAX
DLLAPI long *ER_STDCALL erGetExtAxTrack_sync_type (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd);                         // ER_SYNC_OFF, ER_SYNC_ON, erConnectTrackMotionSetSync()
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL erGetExtAxTrack_extax_data (ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND hnd, long extax_idx);   // external axis data, NEXT_TARGET_DATA.extax_data[]
DLLAPI long ER_STDCALL erSetExtAxTrackIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0);
#pragma endregion region_ExtAxTrack

//--------------------------------
// External axis data definition for Positioner/TurnTable ... ERK_CAPI_TOOLPATH_EXTAX_POSITIONER
//--------------------------------
#pragma region region_ExtAxPositioner

DLLAPI ER_TARGET_EXTAX_DEVICE_POSITIONER_HND ER_STDCALL erGetTargetLocationExtAxPositionerHnd (ER_TARGET_LOCATION_HND er_tarloc_hnd);
DLLAPI long *ER_STDCALL erGetExtAxPositioner_number_extax_used (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd);             // Number of "used" external axis. Note: The total number of external axis must not exceed ER_EXTAX_KIN_DATA_MAX
DLLAPI long *ER_STDCALL erGetExtAxPositioner_sync_type (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd);                             // ER_SYNC_OFF, ER_SYNC_ON, erConnectPositionerSetSync()
DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL erGetExtAxPositioner_extax_data (ER_TARGET_EXTAX_DEVICE_POSITIONER_HND hnd, long extax_idx);       // external axis data, NEXT_TARGET_DATA.extax_data[]
DLLAPI long ER_STDCALL erSetExtAxPositionerIdx (ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value=0, long sync_type=ER_SYNC_UNDEF, ER_HND er_hnd_connect=0);
#pragma endregion region_ExtAxPositioner

//--------------------------------
// External axis data definition for Conveyor ... ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
//--------------------------------
#pragma region region_ExtAxConveyor

        DLLAPI ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND ER_STDCALL erGetTargetLocationExtAxConveyorHnd(ER_TARGET_LOCATION_HND er_tarloc_hnd);
        DLLAPI long *ER_STDCALL erGetExtAxConveyor_number_extax_used(ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd);          // Number of "used" external axis. Note: The total number of external axis must not exceed ER_EXTAX_KIN_DATA_MAX
        DLLAPI long *ER_STDCALL erGetExtAxConveyor_sync_type(ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd);                          // ER_SYNC_OFF, ER_SYNC_ON, erConnectConveyorSetSync()
        DLLAPI ER_EXTAX_KIN_DATA *ER_STDCALL erGetExtAxConveyor_extax_data(ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND hnd, long extax_idx);    // external axis data, NEXT_TARGET_DATA.extax_data[]
        DLLAPI long ER_STDCALL erSetExtAxConveyorIdx(ER_TARGET_LOCATION_HND er_tarloc_hnd, long extax_idx, double axis_value, double speed_value = 0, long sync_type = ER_SYNC_UNDEF, ER_HND er_hnd_connect = 0);

        DLLAPI long   ER_STDCALL erSetConveyorTrackingWindow(ER_TARGET_LOCATION_HND er_tarloc_hnd, long active, double up, double down, TErTrackingWindowID id_tw, char *name = NULL);

        DLLAPI long   ER_STDCALL erSetConveyorStartOffsetCondition(ER_TARGET_LOCATION_HND er_tarloc_hnd, double tx0);
#pragma endregion region_ExtAxConveyor

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// ToolBox
// class ERK_CAPI_TOOLPATH_TOOLBOX
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_Toolpath_Toolbox

DLLAPI long ER_STDCALL erTPth_TBox_Fct(int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, int constraint_param, char *svalues=NULL);
#pragma endregion region_Toolpath_Toolbox

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// ToolBox
// class ERK_CAPI_TOOLPATH_APIPP
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_apipp_dll

DLLAPI long ER_STDCALL erTPth_PostProc(char *ApiPP_Dll_Name, int FctIdx, int FctSubIdx, ER_TOOLPATH_HND er_tpth_hnd, char *program_name, char *target_path=NULL, int pp_param=0, char *svalues=NULL);
#pragma endregion region_apipp_dll

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// ToolPath
// class ERK_CAPI_TOOLPATH_CREATE
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
DLLAPI long ER_STDCALL erTPth_Fct(ER_TOOLPATH_HND er_tpth_hnd);
#pragma endregion region_CTOOLPATH

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_SIM
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// erColl_ - Functions
// class ERK_CAPI_SIM_COLLISION
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

#pragma region region_erSimCollision

/* Creates a collision handle for one Model and preallocate memory for n_tris triangles
*/
DLLAPI long   ER_STDCALL erColl_BeginModel(ER_COLLISION_HND *er_coll_hnd, long n_tris);

/* Adds a triangle to a Model
*/
DLLAPI long   ER_STDCALL erColl_AddTri(ER_COLLISION_HND er_coll_hnd, double *p1, double *p2, double *p3, long id);

/* Stop building a Model
*/
DLLAPI long   ER_STDCALL erColl_EndModel(ER_COLLISION_HND er_coll_hnd);

/* Perform the collision check of two Models
See also erColl_ChkCollision_res() to get the collision results immediately
*/
DLLAPI long   ER_STDCALL erColl_ChkCollision(ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1,ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0);

/* Perform the collision check of two Models
        Collision results returned immediately compared to erColl_ChkCollision()
        */
DLLAPI long   ER_STDCALL erColl_ChkCollision_res(ER_COLLISION_HND er_coll_hnd_1, DFRAME *iT_1,ER_COLLISION_HND er_coll_hnd_2, DFRAME *iT_2, long query_type=ER_COLL_QUERY_TYPE_COLLIDE, long contact_type=ER_COLL_FIRST_CONTACT, double rel_err=0, double abs_err=0, double tolerance=0, void *pres=NULL);

DLLAPI long   ER_STDCALL erColl_ChkCollision_res_free(long query_type, void *pres);

/* Unload a Model. Free all allocated memory
*/
DLLAPI long   ER_STDCALL erColl_UnloadModel(ER_COLLISION_HND *er_coll_hnd);

/* Get Collision result for query ::ER_COLL_QUERY_TYPE_COLLIDE
*/
DLLAPI long   ER_STDCALL erColl_GetResults_Collide(ER_CollideResult *er_cres);
/* Get Collision result for query ::ER_COLL_QUERY_TYPE_DISTANCE
*/
DLLAPI long   ER_STDCALL erColl_GetResults_Distance(ER_DistanceResult *er_dres);

/* Get Collision result for query ::ER_COLL_QUERY_TYPE_TOLERANCE
*/
DLLAPI long   ER_STDCALL erColl_GetResults_Tolerance(ER_ToleranceResult *er_tres);

#pragma endregion region_erSimCollision

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// ERK_CAPI_AUTOPATH
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_autopath_sdk

DLLAPI char* ER_STDCALL erk_AutoPathVer(void);

DLLAPI int ER_STDCALL erk_AutoPathSetMem(AutoPath_ConfigurationSpace *apcs);

DLLAPI int ER_STDCALL erk_AutoPathInit(AutoPath_ConfigurationSpace *apcs);

DLLAPI int ER_STDCALL erk_AutoPathFreeMem(AutoPath_ConfigurationSpace *apcs);

DLLAPI int ER_STDCALL erk_AutoPathTerminate(AutoPath_ConfigurationSpace *apcs);

DLLAPI int ER_STDCALL erk_AutoPath_SetCallback_CheckConstraints(BOOL(*ptr_CheckConstraints)(int, void*));

DLLAPI int ER_STDCALL erk_AutoPathSetPoseStart(double *pose_start);

DLLAPI int ER_STDCALL erk_AutoPathSetPoseEnd(double *pose_end);

DLLAPI int ER_STDCALL erk_AutoPathFindPath(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetConfigurationPose(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetStartPose(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetEndPose(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetAxisConstraintsMin(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetAxisConstraintsMax(void);

DLLAPI int ER_STDCALL erk_AutoPathAbortPlanning(void);

DLLAPI int ER_STDCALL erk_AutoPathGetPlanningStatus(void);

DLLAPI int ER_STDCALL erk_AutoPathGetNumberOfWayPoints(void);

DLLAPI int ER_STDCALL erk_AutoPathGetWayPointDof(void);

DLLAPI double* ER_STDCALL erk_AutoPathGetWayPoint(int idx);
DLLAPI int ER_STDCALL erk_AutoPathClearAllWayPoints(void);

DLLAPI int ER_STDCALL erk_AutoPathSetAccuracy(UINT accuracy);

DLLAPI int ER_STDCALL erk_AutoPathSetAxisConstraints(int axisBit = AUTOPATH_SDK_AXIS_BIT_DOF6, int setting = 0, double qConstraintMin = 0, double qConstraintMax = 0);

DLLAPI int ER_STDCALL erk_AutoPathSetAxisPriority(int axisBit, int priority);
DLLAPI int ER_STDCALL erk_AutoPathSetAxisEnable(int axisBit, int enable);

DLLAPI int ER_STDCALL erk_AutoPathSetParameter(int ap_option, int ap_value);
DLLAPI int ER_STDCALL erk_AutoPathGetParameter(int ap_option);

DLLAPI int ER_STDCALL erk_AutoPathGetResults(int ap_result);

#pragma endregion region_autopath_sdk

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_GEO
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_geo
/* erUpdateGeo
   Update all Models for each robot joint
*/
DLLAPI long   ER_STDCALL  erUpdateGeo(ER_HND er_hnd);
#pragma endregion region_geo

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_GEO_MNGR
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#pragma region region_GeoMngr
//~~~~~~~~~~~~~~~~~~~~~
// Administration
//~~~~~~~~~~~~~~~~~~~~~
DLLAPI int ER_STDCALL erGeoMngr_GetVersion();

DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_LoadGeometry(ER_HND er_hnd, LOAD_GEOMETRY_DATA *p_load_geometry_data);

DLLAPI int ER_STDCALL erGeoMngr_FreeGeometry(ER_HND er_hnd, TErGeoHandle GeoHandle);

//~~~~~~~~~~~~~~~~~~~~~
// Access to geometries
//~~~~~~~~~~~~~~~~~~~~~
DLLAPI int ER_STDCALL erGeoMngr_GetNumGeometries(ER_HND er_hnd);
// fills structure pointed to by p_load_geometry_data with geometry loading data
DLLAPI int ER_STDCALL erGeoMngr_GetGeometry(ER_HND er_hnd, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME* kinMat);
// return number of geometries for axis of a specified device
DLLAPI int ER_STDCALL erGeoMngr_GetNumAxisGeometries(ER_HND er_hnd, int axis_nr);
// fills structure pointed to by p_load_geometry_data with geometry loading data
DLLAPI int ER_STDCALL erGeoMngr_GetAxisGeometry(ER_HND er_hnd, int axis_nr, int geometryIndex, LOAD_GEOMETRY_DATA *p_load_geometry_data, DFRAME* kinMat);
// BBox über die gesamte Geometrie (also über den gesamten Body)
DLLAPI const double* ER_STDCALL erGeoMngr_GetGeometryBBox(TErGeoHandle geometryHandle);
// Achsen-BBox über alle Geometry-BBoxes einer Achse
DLLAPI const double* ER_STDCALL erGeoMngr_GetAxisBBox(ER_HND er_hnd, int axis_id);
// Device-BBox
DLLAPI const double* ER_STDCALL erGeoMngr_GetDeviceBBox(ER_HND er_hnd);

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryNumObjs(TErGeoHandle geometryHandle);

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPoints(TErGeoHandle geometryHandle, int objidx);
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPoint(TErGeoHandle geometryHandle, int objidx, int index);
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPointNormals(TErGeoHandle geometryHandle, int objidx);
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjPointNormal(TErGeoHandle geometryHandle, int objidx, int index);
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumLines(TErGeoHandle geometryHandle, int objidx);
DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjLine(TErGeoHandle geometryHandle, int objidx, int index);
DLLAPI int ER_STDCALL erGeoMngr_GetGeometryObjNumPolygons(TErGeoHandle geometryHandle, int objidx);
DLLAPI size_t* ER_STDCALL erGeoMngr_GetGeometryObjPolygon(TErGeoHandle geometryHandle, int objidx, int index);

// ist die Obj-Color intern -2 (USER_COLOR) wird die user color (die Farbe, die in der LOAD_GEOMETRY_DATA-Struktur steht) zurückgegeben
// sonst : konkrete Farbe
DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryObjColor(TErGeoHandle geometryHandle, int objidx);
// der Farbcode (kann auch -2 (USER_COLOR) sein, damit die Host-Applikation eine eigene UserColor festlegen kann)
DLLAPI long ER_STDCALL erGeoMngr_GetGeometryObjColorCode(TErGeoHandle geometryHandle, int objidx);

DLLAPI int ER_STDCALL erGeoMngr_GetGeometryCloneCount(TErGeoHandle geometryHandle); // Get number of clones >=1
DLLAPI TErGeoHandle ER_STDCALL erGeoMngr_GetGeometryCloneHandle(TErGeoHandle geometryHandle);// Get clone handle

//DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryPolygoneNormal(TErGeoHandle geometryHandle, int index);
//DLLAPI double* ER_STDCALL erGeoMngr_GetGeometryPolygoneCenter(TErGeoHandle geometryHandle, int index);

DLLAPI int ER_STDCALL erGeoMngr_SetGeometryCollisionHandle(TErGeoHandle geometryHandle, ER_COLLISION_HND collisionHandle);
DLLAPI ER_COLLISION_HND* ER_STDCALL erGeoMngr_GetGeometryCollisionHandle(TErGeoHandle geometryHandle);
DLLAPI int ER_STDCALL erGeoMngr_SetGeometryIsCollided(TErGeoHandle geometryHandle, int isCollided);
DLLAPI int* ER_STDCALL erGeoMngr_GetGeometryIsCollided(TErGeoHandle geometryHandle);

DLLAPI int ER_STDCALL erGeoMngr_CheckBoundingBoxCollision(DFRAME* T1, const double* bbox1, DFRAME* T2, const double* bbox2, double tolerance);
#pragma endregion region_GeoMngr

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_SYS
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// class ERK_CAPI_SYS_UTILITIES
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// erMath_ - Functions
// ERK_CAPI_SYS_MATHEMATICS
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

#pragma region region_erMath

DLLAPI long   ER_STDCALL erMath_FrameToVecIdx(DFRAME *T, double *vec, long rotation_idx=ER_ROT_XYZ);

DLLAPI long   ER_STDCALL erMath_VecToFrameIdx(double *vec, DFRAME *T, long rotation_idx=ER_ROT_XYZ);

DLLAPI long   ER_STDCALL erMath_PxyzRxyzToFrame(double x,double y,double z,double Rx,double Ry,double Rz, DFRAME *T);

DLLAPI long   ER_STDCALL erMath_Frame_Ident(DFRAME *T); // T = Ident

DLLAPI long   ER_STDCALL erMath_Frame_Trans(DFRAME *T, double x, double y, double z);   // set frame position T.p[] = [x,y,z]

DLLAPI long   ER_STDCALL erMath_Frame_Rot(DFRAME *T, double q, long rotation_idx=ER_ROT_IDENT); // rotation_idx = ER_ROT_IDENT, ER_ROT_X, ER_ROT_Y, ER_ROT_Z, T = f(q,rotation_idx)

DLLAPI long   ER_STDCALL erMath_AngleBetween(DFRAME *Ts, DFRAME *Te, double *angle, double *k=NULL);

DLLAPI long   ER_STDCALL erMath_DistBetween(DFRAME *Ts, DFRAME *Te, double *dist, double *dv=NULL);

DLLAPI long   ER_STDCALL erMath_CircCenterPoint(double *ps, double *pv, double *pe, DFRAME *pTc, double *radius, double *phi, double *phi_via = NULL);

DLLAPI long   ER_STDCALL erMath_invT(DFRAME *To,DFRAME *Ti); // To = inv(Ti)

DLLAPI long   ER_STDCALL erMath_invR(DFRAME *Ro,DFRAME *Ri); // Ro = inv(Ri) = transpose(Ri) = Ri'

DLLAPI long   ER_STDCALL erMath_mul_R_R(DFRAME *Ro,DFRAME *Ri1,DFRAME *Ri2); // Ro = Ri1 * Ri2

DLLAPI long   ER_STDCALL erMath_mul_T_T(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2); // To = Ti1 * Ti2

DLLAPI long   ER_STDCALL erMath_mul_T_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2); // To = Ti1 * inv(Ti2)

DLLAPI long   ER_STDCALL erMath_mul_invT_T (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2); // To = inv(Ti1) * Ti2

DLLAPI long   ER_STDCALL erMath_mul_invT_invT (DFRAME *To, DFRAME *Ti1, DFRAME *Ti2); // To = inv(Ti1) * inv(Ti2)

DLLAPI long   ER_STDCALL erMath_mul_T_pos (double *po,DFRAME *T,double *pi); // po = T * pi

DLLAPI long   ER_STDCALL erMath_mul_invT_pos (double *po,DFRAME *T,double *pi); // po = inv(T) * pi

DLLAPI long   ER_STDCALL erMath_mul_R_pos (double *po,DFRAME *R,double *pi); // po = R * pi

DLLAPI long   ER_STDCALL erMath_mul_invR_pos (double *po,DFRAME *R,double *pi); // po = R' * pi

DLLAPI long   ER_STDCALL erMath_mul_T_T_T(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = Ti1 * Ti2 * Ti3

DLLAPI long   ER_STDCALL erMath_mul_T_T_invT(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = Ti1 * Ti2 * inv(Ti3)

DLLAPI long   ER_STDCALL erMath_mul_T_invT_T(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = Ti1 * inv(Ti2) * Ti3

DLLAPI long   ER_STDCALL erMath_mul_T_invT_invT(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = Ti1 * inv(Ti2) * inv(Ti3)

DLLAPI long   ER_STDCALL erMath_mul_invT_T_T(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = inv(Ti1) * Ti2 * Ti3

DLLAPI long   ER_STDCALL erMath_mul_invT_T_invT(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = inv(Ti1) * Ti2 * inv(Ti3)

DLLAPI long   ER_STDCALL erMath_mul_invT_invT_T(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = inv(Ti1) * inv(Ti2) * Ti3

DLLAPI long   ER_STDCALL erMath_mul_invT_invT_invT(DFRAME *To,DFRAME *Ti1,DFRAME *Ti2,DFRAME *Ti3); // To = To = inv(Ti1) * inv(Ti2) * inv(Ti3)

DLLAPI double*   ER_STDCALL erMath_SetVec6(double *vec, double q1,double q2,double q3,double q4,double q5,double q6);   // cpy vector of size n
DLLAPI double*   ER_STDCALL erMath_SetVec6PosOri(double *vec, double x,double y,double z,double Rx,double Ry,double Rz);        // cpy vector of size n, x,y,z in [mm], Rx,Ry,Rz in [deg]
DLLAPI DFRAME*   ER_STDCALL erMath_SetFramePosOri(DFRAME *To, double x, double y, double z, double Rx, double Ry, double Rz);   // cpy vector of size n, x,y,z in [mm], Rx,Ry,Rz in [deg] to a DFRAME
DLLAPI double*   ER_STDCALL erMath_SetVec_n(double *vec, int n, double q1,double q2,double q3,double q4,double q5,double q6);   // cpy vector of size n
DLLAPI double*   ER_STDCALL erMath_CpyVec(double *dst, double *src, int n);     // cpy vector of size n
DLLAPI double*   ER_STDCALL erMath_ResetVec(double *dst, int n);        // reset vector of size n

#pragma endregion region_erMath

//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------

#ifdef __cplusplus
}
#endif

#endif  // _er_kernel_main_h