erk_capi_definitions.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

        Header file
                erk_capi_definitions.h

        Autor
                EASY-ROB Software GmbH
*/

#pragma once

/* 
// The usage of below definitions is optional, but recommended for a better support by EASY-ROB
//#include "erk_capi_types.h"
//#ifdef DLLAPI
//#undef DLLAPI
//#endif
//#define DLLAPI
//#include "erk_capi.h"
*/

// main class
//
static ERK_CAPI                                 erk_capi;                       // 0    CAPI

// class ERK_CAPI                                                                       // 0    ADMIN
//
static ERK_CAPI_ADMIN                   erk_admin;                      // 1.
static ERK_CAPI_DEVICES                 erk_devices;            // 2.
static ERK_CAPI_SIM                             erk_sim;                        // 3.
static ERK_CAPI_AUTOPATH                erk_autopath;           // 4.
static ERK_CAPI_TARGETS                 erk_targets;            // 5.
static ERK_CAPI_GEO                             erk_geo;                        // 6.
static ERK_CAPI_SYS                             erk_sys;                        // 7.

// class ERK_CAPI_ADMIN                                                         // 1.   ADMIN
//
static ERK_CAPI_CALLBACKS               erk_capi_callback;      // 1.1.

// class ERK_CAPI_DEVICES                                                       // 2.   DEVICES
//
static ERK_CAPI_ROB                             erk_rob;                        // 2.1.
static ERK_CAPI_MOP                             erk_mop;                        // 2.2.
static ERK_CAPI_TOOLPATH                erk_toolpath;           // 2.3.

// class ERK_CAPI_ROB                                                           // 2.1  ROB
//
static ERK_CAPI_ROB_KIN                 erk_rob_kin;            // 2.1.1
static ERK_CAPI_ROB_ATRIBUTES   erk_rob_attributes;     // 2.1.2
static ERK_CAPI_ROB_KIN_API             erk_rob_kin_api;        // 2.1.3

// class ERK_CAPI_MOP                                                           // 2.2  MOP
//
static ERK_CAPI_MOP_DATA                erk_mop_data;           // 2.2.1.
static ERK_CAPI_MOP_PATH                erk_mop_path;           // 2.2.2.
static ERK_CAPI_MOP_PREP                erk_mop_prep;           // 2.2.3.
static ERK_CAPI_MOP_EXEC                erk_mop_exec;           // 2.2.4.

// class ERK_CAPI_TOOLPATH                                                                                                      // 2.3  TOOLPATH
//
static ERK_CAPI_TOOLPATH_TARGETS                        erk_toolpath_targets;                   // 2.3.1.
static ERK_CAPI_TOOLPATH_HEAD                           erk_toolpath_head;                              // 2.3.2.
static ERK_CAPI_TOOLPATH_INSTRUCTIONS           erk_toolpath_instructions;              // 2.3.3.
static ERK_CAPI_TOOLPATH_EVENTS                         erk_toolpath_events;                    // 2.3.4.
static ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX         erk_toolpath_attributes_aux;    // 2.3.5.
static ERK_CAPI_TOOLPATH_ATTRIBUTES                     erk_toolpath_attributes;                // 2.3.6.
static ERK_CAPI_TOOLPATH_MOVE_JOINT                     erk_toolpath_move_joint;                // 2.3.7.
static ERK_CAPI_TOOLPATH_MOVE_CP                        erk_toolpath_move_cp;                   // 2.3.8.
static ERK_CAPI_TOOLPATH_MOTION_EXEC            erk_toolpath_motion_exec;               // 2.3.9.
static ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION      erk_toolpath_extax_trackmotion; // 2.3.10.
static ERK_CAPI_TOOLPATH_EXTAX_POSITIONER       erk_toolpath_extax_positioner;  // 2.3.11.
static ERK_CAPI_TOOLPATH_EXTAX_CONVEYOR         erk_toolpath_extax_conveyor;    // 2.3.12.
static ERK_CAPI_TOOLPATH_TOOLBOX                        erk_toolpath_toolbox;                   // 2.3.13.
static ERK_CAPI_TOOLPATH_APIPP                          erk_toolpath_apipp;                             // 2.3.14.
static ERK_CAPI_TOOLPATH_CREATE                         erk_toolpath_create;                    // 2.3.15.

// class ERK_CAPI_SIM                                                                                   // 3.   SIM
//
static ERK_CAPI_SIM_COLLISION                           erk_sim_collision;      // 3.2.

// class ERK_CAPI_AUTOPATH                                                                              // 4.   AUTOPATH
//

// class ERK_CAPI_TARGETS                                                                               // 5.   TARGETS
//

// class ERK_CAPI_GEO                                                                                   // 6.   GEO
//
static ERK_CAPI_GEO_MNGR                                        erk_geo_mngr;           // 6.1.

// class ERK_CAPI_SYS                                                                                   // 7.   SYS
//
static ERK_CAPI_SYS_UTILITIES                           erk_sys_utilities;      // 7.1.
static ERK_CAPI_SYS_MATHEMATICS                         erk_sys_mathematics;// 7.2.