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erk_capi_types.h File Reference

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Classes

struct  DFRAME
 Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1]. More...
 
struct  LOAD_GEOMETRY_DATA
 Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc(). More...
 
struct  TErNotifyData
 Notify data structure Used with callback function TerNotifyProc() More...
 
struct  TErGrpSyncData
 Group synchronization data structure Used with callback function TerGrpSyncProc() More...
 
struct  INITIAL_POSITION_DATA
 sets the robot model to a position according to the input data.
Usage with erSET_INITIAL_POSITION() More...
 
struct  _ER_EXTAX_KIN_DATA
 
struct  _NEXT_TARGET_DATA
 
struct  _NEXT_TARGET_DATA_ADVANCE
 
struct  _NEXT_STEP_DATA
 
struct  _CURRENT_STEP_DATA
 
struct  ER_CollisionPair
 A pair of two colliding triangles, see erColl_GetResults_Collide() More...
 
struct  ER_CollideResult
 Collision results for query ER_COLL_QUERY_TYPE_COLLIDE, see erColl_GetResults_Collide()
. More...
 
struct  ER_DistanceResult
 Collision results for query ER_COLL_QUERY_TYPE_DISTANCE, see erColl_GetResults_Distance()
The following distance and points established the minimum distance for the models, within the relative and absolute error bounds specified. More...
 
struct  ER_ToleranceResult
 Collision results for query ER_COLL_QUERY_TYPE_TOLERANCE, see erColl_GetResults_Tolerance() More...
 
struct  _AutoPath_ConfigurationSpace
 

Macros

#define DLLAPI
 
#define ER_STDCALL
 

Typedefs

typedef unsigned int * ER_HND
 unique Kinematics handle, created with erInitKin() More...
 
typedef unsigned int * Host_HND
 unique Host handle given from Host, NULL per default, erInitKin() More...
 
typedef unsigned int TErGeoHandle
 unique Geometry handle used for callback functions TerLoadGeometryProc() More...
 
typedef unsigned int TErTargetID
 unique Target identifier More...
 
typedef unsigned int TErTrackingWindowID
 unique TrackingWindow identifier More...
 
typedef unsigned int * ER_COLLISION_HND
 unique Collision handle, created with erColl_BeginModel() More...
 
typedef unsigned int * ER_TOOLPATH_HND
 unique Tool path handle, created with erInitToolPath() More...
 
typedef unsigned int * ER_TARGET_LOCATION_HND
 unique Target location handle, created with erAddTargetLocation() More...
 
typedef unsigned int * ER_TARGET_HEAD_HND
 unique Header data handle More...
 
typedef unsigned int * ER_TARGET_INSTRUCTIONS_HND
 Instructions, individual information text. More...
 
typedef unsigned int * ER_TARGET_ATTRIBUTES_AUX_HND
 unique Auxiliary motion attributes handle More...
 
typedef unsigned int * ER_TARGET_ATTRIBUTES_HND
 unique Motion attributes handle More...
 
typedef unsigned int * ER_TARGET_MOVE_JOINT_HND
 unique Target data for Joint Move handle More...
 
typedef unsigned int * ER_TARGET_MOVE_CP_HND
 unique Target data for CP Move handle More...
 
typedef unsigned int * ER_TARGET_MOTION_EXEC_HND
 unique handle for motion execution data at target More...
 
typedef unsigned int * ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
 unique External axis data definition for Track/Slider handle More...
 
typedef unsigned int * ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
 unique External axis data definition for Positioner/TurnTable handle More...
 
typedef unsigned int * ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
 unique External device definition for Conveyor More...
 
typedef void * TErExtraData
 additional notification data, tbd, TerNotifyProc() More...
 
typedef struct _ER_EXTAX_KIN_DATA ER_EXTAX_KIN_DATA
 
typedef struct _NEXT_TARGET_DATA NEXT_TARGET_DATA
 
typedef struct
_NEXT_TARGET_DATA_ADVANCE 
NEXT_TARGET_DATA_ADVANCE
 
typedef struct _NEXT_STEP_DATA NEXT_STEP_DATA
 
typedef struct _CURRENT_STEP_DATA CURRENT_STEP_DATA
 
typedef void(ER_STDCALLTerLogProc )(long LogType, char *LogMessage)
 Callback function type definition for Log messages, erSetCallBack_LogProc() More...
 
typedef TErGeoHandle(ER_STDCALLTerLoadGeometryProc )(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data)
 Callback function type definition to load a geometry, erSetCallBack_LoadGeometryProc() More...
 
typedef long(ER_STDCALLTerUpdateGeometryProc )(ER_HND ErHandle, TErGeoHandle GeoHandle, DFRAME *KinMat)
 Callback function type definition to update a geometry, erSetCallBack_UpdateGeometryProc() More...
 
typedef long(ER_STDCALLTerFreeGeometryProc )(ER_HND ErHandle, TErGeoHandle GeoHandle)
 Callback function type definition to free or delete a geometry, erSetCallBack_FreeGeometryProc().
This callback function is used when unloading a kinemaitcs erUnloadKin() or a tool erUnloadTool() More...
 
typedef long(ER_STDCALLTerGetActualTravelRangesProc )(ER_HND ErHandle, Host_HND HostHandle, double *Joints, double *TravelRangeMin, double *TravelRangeMax)
 Callback function type definition for user defined calculation of min./max. travel ranges in current joints location, erSetCallBack_GetActualTravelRangesProc() More...
 
typedef long(ER_STDCALLTerNotifyProc )(ER_HND ErHandle, Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData)
 Callback function type definition for notifications, erSetCallBack_NotifyProc() More...
 
typedef long(ER_STDCALLTerGrpSyncProc )(ER_HND ErHandle, Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData)
 Callback function type definition group synchronization, erSetCallBack_GrpSyncProc() More...
 
typedef double ER_REAL_TYPE
 
typedef struct
_AutoPath_ConfigurationSpace 
AutoPath_ConfigurationSpace
 

Variables

const long ER_KIN_CONFIGS = 8
 Maximum number of possible robot configurations. More...
 
const long ER_KIN_DOFS = 12
 Maximum number of Degrees-of-Freedom for a kinematics. More...
 
const long ER_KIN_PASSIVE_JNTS = 36
 Maximum number of passive joints for a kinematics. More...
 
const long ER_DOF6 = 6
 6 Degrees-of-Freedom More...
 
const long ER_DOF_QUAT = 7
 Quaternion vector length. More...
 
const long ER_DOF9 = 9
 9 Degrees-of-Freedom More...
 
const long ER_DOF12 = 12
 12 Degrees-of-Freedom More...
 
const long ER_DIM = 3
 3 Dimensions More...
 
const long ER_MAXSTR = 128
 Maximum length of a short message. More...
 
const long ER_DMAXSTR = 256
 Maximum length of a medium message. More...
 
const long ER_LS_MAXSTR = 512
 Maximum length of a long message. More...
 
const long ER_HS_MAXSTR = 1024
 Maximum length of a huge message. More...
 
const double ER_PI = 3.14159265359
 PI. More...
 
const double ER_DEG = 180.0/ER_PI
 Conversion from radiant to degree. More...
 
const double ER_RAD = ER_PI/180.0
 Conversion from degree to radiant. More...
 
const double ER_mm2m = 0.001
 Conversion from [m] to [mm]. More...
 
const double ER_m2mm = 1000.0
 Conversion from [mm] to [m]. More...
 
const int ER_APIDLL_CNTRL_UNDEF = 0x0
 Calling status for API-DLL is undefined. More...
 
const int ER_APIDLL_CNTRL_INITIALIZE = 0x1
 Calling status for API-DLL, Initialization allowing to allocate dynamically memory or establish a TCP/IP communication. More...
 
const int ER_APIDLL_CNTRL_TERMINATE = 0x2
 Calling status for API-DLL, Terminate, allowing to delete allocated memory or to terminate a TCP/IP communication. More...
 
const int ER_APIDLL_CNTRL_SIM_START = 0x4
 Calling status for API-DLL, Start indicates that the simulation starts. More...
 
const int ER_APIDLL_CNTRL_SIM_STEP = 0x8
 Calling status for API-DLL, Cycle indicates one simulation step or simulation cycle within a simulation. More...
 
const int ER_APIDLL_CNTRL_SIM_STOP = 0x10
 Calling status for API-DLL, Stop indicates that the simulation is aborted. More...
 
const long ER_GEO_TYPE_CUBE = 1
 Geometry Type CUBE, number of parameter = 3: X-length [m], Y-length [m], Height [m], see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_PYRAMID = 2
 Geometry Type PYRAMID, number of parameter = 5: X-length [m], Y-length [m], Height [m], dx [m], dy [m], see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_WEDGE = 3
 Geometry Type WEDGE, number of parameter = 7: X-length [m], Y-length [m], Height [m], X-Top [m], Y-Top [m], dx [m], dy [m], see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_CYLINDER = 4
 Geometry Type CYLINDER, number of parameter = 9: Radius [deg], Height_1 [m], y-Scale, Radius-Top [deg], Height_2 [m], y-Scale-Top [m], dx [m], dy [m], Angle, see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_CONE = 5
 Geometry Type CONE, number of parameter = 6: Radius [deg], Height [m], y-Scale, dx [m], dy [m], Angle [deg], see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_SPHERE = 6
 Geometry Type SPHERE, number of parameter = 5: Radius [deg], y-Scale, Angle [deg], Beta_1 [deg], Beta_2 [deg], see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_IGP = 9
 Geometry Type IGP Part file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_STL = 11
 Geometry Type STL ascii or binary file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_TYPE_3DS = 12
 Geometry Type 3DS file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA. More...
 
const long ER_GEO_PARAMETER_MAX = 12
 Maximum number of reserved geometry parameter, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_UNDEF = 0x0
 GeoAttributes undefined, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SMOOTH = 0x1
 GeoAttributes render smooth, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_WIRE = 0x2
 GeoAttributes render wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_BBFLAT = 0x4
 GeoAttributes render bbox flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_BBWIRE = 0x8
 GeoAttributes render bbox wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_INVISIBLE = 0x10
 GeoAttributes render invisible, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_VERTICES = 0x20
 GeoAttributes render vertices, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_FLAT = 0x40
 GeoAttributes render flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_INVERT = 0x100
 GeoAttributes geometry visualized inverted 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_BFACE_CULLING = 0x200
 GeoAttributes geometry visualized back face culling, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SHOW_NAME = 0x400
 GeoAttributes geometry visualized with name, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SHOW_NORMALS = 0x800
 GeoAttributes geometry visualized with normals, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SHOW_MESH = 0x1000
 GeoAttributes geometry visualized meshes, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SHOW_EDGES = 0x2000
 GeoAttributes geometry visualized edges, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT = 0x4000
 GeoAttributes geometry visualized transparent, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_CHK_COLLISION = 0x10000
 GeoAttributes geometry in collision queue, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO = 0x20000
 GeoAttributes geometry object memory model 1-OBJ_MEM_VBO, 0-OBJ_MEM_GRAHICS or OBJ_MEM_NATIVE_CPU, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_PARENT = 0x40000
 GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_PARENT, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_CHILD = 0x80000
 GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_CHILD, see LOAD_GEOMETRY_DATA. More...
 
const int ER_GEO_ATTRIBUTES_DEFAULT = ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO
 GeoAttributes default settings. More...
 
const long ER_LICENSE_PRIORITY_UNDEF = 0x0
 license priority not defined More...
 
const long ER_LICENSE_PRIORITY_LMNGR = 0x1
 check Lmngr license first More...
 
const long ER_LICENSE_PRIORITY_LOCAL = 0x2
 check local license first More...
 
const long ER_LICENSE_PRIORITY_DEFAULT = ER_LICENSE_PRIORITY_LMNGR
 check Lmngr license first More...
 
const long ER_LOG_TYPE_CONSOLE = -1
 Log Message output to console window. More...
 
const long ER_LOG_TYPE_MSG = 0
 simple Log Message, callback function TerLogProc() More...
 
const long ER_LOG_TYPE_WARNING = 1
 warning Log Message, callback function TerLogProc() More...
 
const long ER_LOG_TYPE_ERROR = 2
 error Log Message, callback function TerLogProc() More...
 
const long ER_LOG_TYPE_STATUS = 3
 status Log Message, callback function TerLogProc() More...
 
const long ER_NOTIFY_TYPE_MSG = 0
 Notify Type Level: OK 0, send simple messages with ER_NOTIFY_DOMAIN_OK or ER_NOTIFY_CODE_OK. More...
 
const long ER_NOTIFY_TYPE_WARNING = 1
 Notify Type Level: Warning 1. More...
 
const long ER_NOTIFY_TYPE_ERROR = 2
 Notify Type Level: ERROR 2. More...
 
const long ER_NOTIFY_TYPE_INTERNAL_ERROR = 3
 Notify Type Level: Initial ERROR 3. More...
 
const long ER_NOTIFY_DOMAIN_OK = 0
 Domain notify level: OK 0. More...
 
const long ER_NOTIFY_DOMAIN_GLOBAL = 1
 Domain notify level: GLOBAL 1-100. More...
 
const long ER_NOTIFY_DOMAIN_FILE_IO = 2
 Domain notify level: FILE_IO 101-200. More...
 
const long ER_NOTIFY_DOMAIN_KIN_CALC = 3
 Domain notify level: KIN_CALC 201-300. More...
 
const long ER_NOTIFY_DOMAIN_MOTION_PREP = 4
 Domain notify level: MOTION_PREP 301-400 Set_Next_Target. More...
 
const long ER_NOTIFY_DOMAIN_MOTION_EXEC = 5
 Domain notify level: MOTION_EXEC 401-500 Get_Next_Step. More...
 
const long ER_NOTIFY_CODE_OK = 0
 Code notify level: OK 0. More...
 
const long ER_NOTIFY_CODE_WARN_SINGULAR = 201
 Code notify warning, robot in singularity. More...
 
const long ER_NOTIFY_CODE_WARN_UNREACH = 202
 Code notify error, location unsrechable. More...
 
const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID = 203
 Code notify error, invalid configuration. More...
 
const long ER_NOTIFY_CODE_WARN_NO_INVKIN = 204
 Code notify error, device has no inverse kinematics. More...
 
const long ER_NOTIFY_CODE_WARN_SWE_EXCEED = 205
 Code notify warning, location ok but travel ranges are exceeded. More...
 
const long ER_NOTIFY_CODE_WARN_ERROR = 206
 Code notify error, ERROR. More...
 
const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED = 207
 Code notify error, cannot find a valid configuration. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_RUNNING = 301
 Code notify, execution running, internal error -79, Not ready to receive targets. More...
 
const long ER_NOTIFY_CODE_IPO_NEW_PREP_PATH = 302
 Code notify, preparation running,internal error -79, Not ready to receive targets. More...
 
const long ER_NOTIFY_CODE_IPO_PREP_ERROR = 303
 Code notify, praparation failed,internal error -68. More...
 
const long ER_NOTIFY_CODE_IPO_PREP_CONFIG = 304
 Code notify, warning Cannot change configuration during LIN or CIRC move. More...
 
const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED = 305
 Code notify, error -17, specified motion type is not supported. More...
 
const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE = 306
 Code notify, error -78. Cannot prepare motion. More...
 
const long ER_NOTIFY_CODE_IPO_PREP_INVALID_IPO_WHILE_TRACKING = 307
 Code notify, error -76, PTP/ABS-Joint Interpolation in einer koordinierten Bewegung (Tracking) nicht erlaubt. More...
 
const long ER_NOTIFY_CODE_IPO_PREP_INVALID_CHANGE_OF_TRACKING_BASE = 308
 Code notify, error -76 , Direkter Wechsel von einem Tracking Base zum anderem nicht mglich. Zwischenpunkt mit festem Bezugssystem einfgen More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START = 401
 Code notify warning, Start Speed reduction. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP = 402
 Code notify warning, Stop Speed reduction. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_ERROR = 403
 Code notify internal error -68, stop Get_Next_Step. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE = 404
 Code notify error -68, Cannot calculate next step. More...
 
const long ER_NOTIFY_CODE_IPO_POS_OUT_OF_BOUNDARY = 405
 Code notify error -1053, Cartesian position is out of boudary work range. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_POS_OUT_OF_RANGE = 406
 Code notify error -52, cartesian position is out of work range. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR = 407
 Code notify warning -1059, Cartesian position is singular. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED = 408
 Code notify warning, maximum joint speed exceeded. More...
 
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED = 409
 Code notify warning, maximum joint acceleration exceeded. More...
 
const long ER_GRPSYNC_GET_SYNC_DISCRETE = 0
 ProcSync, aks status for SyncIDDiscrete. More...
 
const long ER_GRPSYNC_SET_DURATION = 1
 MoveSync, set duration of calculated motion time for current move. More...
 
const long ER_GRPSYNC_GET_DURATION_MAX = 2
 MoveSync, get max duration of motion times of all robots in KIR group. More...
 
const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN = 3
 MoveSync, get min ov of all robots in KIR group. More...
 
const long ER_GRPSYNC_SET_OV_SPEED_RED = 4
 MoveSync, set current ov resulted from speed reduction. More...
 
const long ER_SYNC_UNDEF =0x0
 device synchronization not defined More...
 
const long ER_SYNC_OFF =0x1
 device synchronization OFF More...
 
const long ER_SYNC_ON =0x2
 device synchronization ON More...
 
const long ER_SYNC_CONVEYOR =0x4
 device synchronization for track motion with Conveyor, tbd More...
 
const long ER_SYNC_VR_OFF =0x8
 device synchronization, tbd More...
 
const long ER_SYNC_OFF_TRACKING_WINDOWS_ON = 0x10
 device synchronization OFF while Tracking Window active, tbd More...
 
const long ER_RRRRRR_ID =1
 Device modelled as fixed articulated RRR:RRR type, such as Manutec. More...
 
const long ER_TTTRRR_ID =2
 Device modelled as 6 DOF Gantry TTT:RRR type. More...
 
const long ER_RRRRRR_BL_ID =3
 Device modelled as fixed articulated RRR:RRR type with back link, such as an ABB IRB-1400. More...
 
const long ER_UNIV_ROB_ID =10
 Device modelled with universal coordinates. More...
 
const long ER_DH_ID =11
 Device modelled with DH Denavit-Hartenberg-Transformation. More...
 
const long ER_TARGET_TYPE_ABS = 0
 Target w.r.t object frame. More...
 
const long ER_TARGET_TYPE_ABSJOINT = 9
 Target single axis motion,if motion_type = JOINT –> AbsJoint. More...
 
const long ER_OUPUT_FORMAT_JOINT_ENCODER = 1
 desired output_format for erGET_NEXT_STEP is Joint encoder More...
 
const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST = 2
 desired output_format for erGET_NEXT_STEP is Joint angle/distance More...
 
const long ER_OUPUT_FORMAT_W_ORIENTATION = 3
 desired output_format for erGET_NEXT_STEP is Cartesian ( w/orientation ) More...
 
const long ER_OUPUT_FORMAT_CART_JOINT_ENCODER = 4
 desired output_format for erGET_NEXT_STEP is Cartesian and joint encoder More...
 
const long ER_OUPUT_FORMAT_CART_JOINT_ANGLE_DIST = 5
 desired output_format for erGET_NEXT_STEP is Cartesian and joint angle/distance More...
 
const long ER_MOTION_FILTER_GEO = 0
 Motion filter set to geometric velocity profile, erSET_MOTION_FILTER() More...
 
const long ER_MOTION_FILTER_C2 = 1
 Motion filter set to c2-velocity profile, erSET_MOTION_FILTER() More...
 
const long ER_JOINT = 1
 Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE() More...
 
const long ER_PTP = ER_JOINT
 Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE() More...
 
const long ER_LIN = 2
 Motion Type LIN linear motion, erSELECT_MOTION_TYPE() More...
 
const long ER_SLEW = 3
 Motion Type SLEW, Async PTP or AbsJoint, erSELECT_MOTION_TYPE() More...
 
const long ER_CIRC = 4
 Motion Type CIRC circular motion using via point, erSELECT_MOTION_TYPE() More...
 
const long ER_PTP_TARGET_CALC_MODE_UNDEF = 0
 default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, NEXT_TARGET_DATA More...
 
const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE = 1
 PTP solution calculated by shortest angle, NEXT_TARGET_DATA. More...
 
const long ER_PTP_TARGET_CALC_MODE_TURNS = 2
 PTP solution calculated using turns, NEXT_TARGET_DATA. More...
 
const long ER_PTP_TARGET_CALC_MODE_MATH = 3
 PTP solution calculated mathematical [-180, 180], NEXT_TARGET_DATA. More...
 
const long ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE = 4
 PTP solution calculated within travel ranges, if possible, NEXT_TARGET_DATA. More...
 
const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG = 5
 PTP solution calculated by variable configuration, NEXT_TARGET_DATA. More...
 
const long ER_AUTOACCEL_MODE_OFF =0x0
 0 no auto accel calculation, erSetAutoAccel() More...
 
const long ER_AUTOACCEL_MODE_POS =0x1
 1-auto accel calculation for position ax,axe = f(vx), erSetAutoAccel() More...
 
const long ER_AUTOACCEL_MODE_ORI =0x2
 2-auto accel calculation for orientation ax_ori,axe_ori = f(vx_ori), erSetAutoAccel() More...
 
const long ER_AUTOACCEL_MODE_AX =0x4
 4-auto accel calculation joints aq_axis,aq_decel_axis = f(vq_axis), erSetAutoAccel() More...
 
const long ER_AUTOACCEL_MODE_DEF =ER_AUTOACCEL_MODE_POS | ER_AUTOACCEL_MODE_ORI
 Default: auto accel calculation for position and orientation, erSetAutoAccel() More...
 
const long ER_AUTOACCEL_MODE_ON =ER_AUTOACCEL_MODE_POS | ER_AUTOACCEL_MODE_ORI | ER_AUTOACCEL_MODE_AX
 all accel calculation enabled, erSetAutoAccel() More...
 
const long ER_DOMINANT_INTERPOLATION_POS =0x1
 1-dominant interpolation type, Position is master, erSELECT_DOMINANT_INTERPOLATION() More...
 
const long ER_DOMINANT_INTERPOLATION_ORI =0x2
 2-dominant interpolation type, Orientation is master, erSELECT_DOMINANT_INTERPOLATION() More...
 
const long ER_DOMINANT_INTERPOLATION_AXIS =0x3
 3-dominant interpolation type, Axis is master, erSELECT_DOMINANT_INTERPOLATION() More...
 
const long ER_DOMINANT_INTERPOLATION_AUTO =0x4
 4-dominant interpolation type, Automatic (the slowest one is leading), erSELECT_DOMINANT_INTERPOLATION() More...
 
const long ER_CIRC_ORI_INTERPOLATION_START_END =0x0
 Use start- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE() More...
 
const long ER_CIRC_ORI_INTERPOLATION_START_VIA_END =0x1
 Use start-,via- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE() More...
 
const long ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END =0x2
 Use start-,via- and end-location for orientation interpolation on a circle, hereby the robot reaches the orientation in via point, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE() More...
 
const long ER_CIRC_ORI_INTERPOLATION_TANGENTIAL =0x3
 Tangential dependent on orientation in start-location for orientation interpolation on a circle, hereby the orientation in via- and end-point are ignored, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE() More...
 
const long ER_CIRC_ORI_INTERPOLATION_FIX =0x4
 Keep current orientation during interpolation on a circle, hereby the orientation in start-, via- and end-point are ignored, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE() More...
 
const long ER_EXTAX_KIN_DATA_MAX = 12
 Maximum number of external axis data. More...
 
const long ER_FLYBY_OFF = 0
 Flyby OFF, disabled. More...
 
const long ER_FLYBY_ON = 1
 Flyby ON, enabled. More...
 
const long ER_FLYBY_TYPE_UNDEF = 0
 Flyby is not active = 0. More...
 
const long ER_FLYBY_TYPE_SPEED = 1
 Flyby by speed [%]. More...
 
const long ER_FLYBY_TYPE_DISTANCE = 2
 Flyby by distance [mm]. More...
 
const long TRK_WND_NOT_ACTIVE = 0
 Tracking window is not active = 0. More...
 
const long TRK_WND_WAITING = 1
 Robot is waiting for Tracking window = 1. More...
 
const long TRK_WND_INSIDE = 2
 Robot is inside Tracking window = 2;. More...
 
const long TRK_WND_OUT_OF_BOUNDARY = 3
 Robot outside tracking window boundary = 3;. More...
 
const long ER_CSTEP_STATUS_UNDEF =0x0
 current step status is not defined, erGetCurrentStepData() More...
 
const long ER_CSTEP_STATUS_ERROR =0x1
 current step status is ERROR, erGetCurrentStepData() More...
 
const long ER_CSTEP_STATUS_OK =0x2
 current step status is OK, erGetCurrentStepData() More...
 
const long ER_CSTEP_STATUS_VIA_POINT =0x4
 current step status ViaPoint is set, waiting for CIRC Target More...
 
const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW =0x8
 current step status Wait for Tracking Window More...
 
const long ER_CSTEP_STATUS_IPO_IN_POSITION =0x10
 current step status Robot already in Position More...
 
const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED =0x20
 current step status Robot motion was stopped More...
 
const long ER_CSTEP_STATUS_INV_WARNING =0x40
 current step status Inverse Kinematics with warnings More...
 
const int ER_MOP_GNTPS_CNTRL_UNDEF = 0x0
 Get Next Tool Path Step, undefined request. More...
 
const int ER_MOP_GNTPS_CNTRL_INIT = 0x1
 Get Next Tool Path Step, Initialize ToolPath interpolation. More...
 
const int ER_MOP_GNTPS_CNTRL_TERMINATE = 0x2
 Get Next Tool Path Step, Terminate ToolPath interpolation. More...
 
const int ER_MOP_GNTPS_CNTRL_NEXT_STEP = 0x4
 Get Next Tool Path Step, Calculate one interpolation step. More...
 
const int ER_MOP_GNTPS_CNTRL_TBD_08 = 0x8
 tbd More...
 
const int ER_MOP_GNTPS_CNTRL_UPDATE_GEO = 0x10
 Get next tool path step, call erUpdateGeo() for each simulation step, use with ER_MOP_GNTPS_CNTRL_NEXT_STEP. More...
 
const int ER_MOP_GNTPS_CNTRL_LOG_FILE = 0x100
 Get Next Tool Path Step, creates log file, use with ER_MOP_GNTPS_CNTRL_INIT. More...
 
const int ER_MOP_GNTPS_CNTRL_PRG_FILE = 0x200
 Get Next Tool Path Step, creates prg file, use with ER_MOP_GNTPS_CNTRL_INIT. More...
 
const int ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT = 0x400
 Get Next Tool Path Step, writes contents for current ToolPath into file stream, use with ER_MOP_GNTPS_CNTRL_INIT. More...
 
const int ER_MOP_GNTPS_CNTRL_STEPDATA_OUT = 0x800
 Get Next Tool Path Step, writes current StepData into dat stream, use with ER_MOP_GNTPS_CNTRL_NEXT_STEP. More...
 
const int ER_MOP_GNT_ERROR = -1
 
const int ER_MOP_GNT_OK_SUCCESS = 0
 
const int ER_MOP_GNT_NO_TARGETS = -2
 
const int ER_MOP_SNT_ERROR = -1
 
const int ER_MOP_SNT_OK_SUCCESS = 0
 
const int ER_MOP_SNT_NEED_MORE_DATA = 1
 
const int ER_MOP_GNS_ERROR = -1
 
const int ER_MOP_GNS_OK_SUCCESS = 0
 
const int ER_MOP_GNS_NEED_MORE_DATA = 1
 
const int ER_MOP_GNS_TARGET_REACHED = 2
 
const int ER_MOP_GNS_TOOLPATH_REACHED = 3
 
const long JNT_TYPE_ROT =0
 Robot Joint is rotational. More...
 
const long JNT_TYPE_TRANS =1
 Robot Joint is prismatic. More...
 
const long JNT_DIRECTION_X = 1
 Robot Joint is in X direction. More...
 
const long JNT_DIRECTION_Y = 2
 Robot Joint is in Y direction. More...
 
const long JNT_DIRECTION_Z = 3
 Robot Joint is in Z direction. More...
 
const long JNT_CHAIN_TYPE_CHAIN = 1
 Robot Joint is in the kinematics chain. More...
 
const long JNT_CHAIN_TYPE_NO_CHAIN = 2
 Robot Joint is NOT in the kinematics chain. More...
 
const long JNT_CHAIN_TYPE_SEP_NO_CHAIN = 3
 Robot Joint is separated & NOT in the kinematics chain. More...
 
const long IPO_MODE_BASE =0
 Interpolation mode is w.r.t. BASE (work object) More...
 
const long IPO_MODE_TOOL =1
 Interpolation mode is w.r.t. external TCP. More...
 
const int INV_WARN_ERROR =-1
 ERROR in inverse kinematics calculation. More...
 
const int INV_WARN_OK =0
 inverse kinematics calculation successful "OK", target location is reachable More...
 
const int INV_WARN_SINGULAR =1
 Warning: Target location is reachable, but location is in singularity. More...
 
const int INV_WARN_UNREACH =2
 inverse kinematics calculation failed, target location is unreachable More...
 
const int INV_WARN_CNFG =3
 ERROR calulating inverse solution for current robot configuration. More...
 
const int INV_WARN_NO_INVKIN =4
 ERROR kinematics has no inverse kinematics defned. More...
 
const int INV_WARN_SWE_EXCEED =5
 Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded. More...
 
const long KIN_BACK_LINK_NO =0
 Robot has no Backlink. More...
 
const long KIN_BACK_LINK_YES =1
 Robot has a Backlink. More...
 
const long KIN_BACK_LINK_UNKNOWN =2
 Robot has no informaton about Backlink. More...
 
const long KIN_A2A3_COUPLING_NO =0
 Robot has no axis coupling between axis 2 and 3. More...
 
const long KIN_A2A3_COUPLING_YES =1
 Robot has axis coupling between axis 2 and 3. More...
 
const long KIN_A2A3_COUPLING_UNKNOWN =2
 Robot has no informaton about axis coupling between axis 2 and 3. More...
 
const long KIN_COUNTER_WEIGHT_NO =0
 Robot has no counter weight. More...
 
const long KIN_COUNTER_WEIGHT_YES =1
 Robot has a counter weight. More...
 
const long KIN_COUNTER_WEIGHT_UNKNOWN =2
 Robot has no information about counter weight. More...
 
const long ER_ONOFF_DISABLE = 0
 disable flag More...
 
const long ER_ONOFF_ENABLE = 1
 enable flag More...
 
const long ER_ONOFF_STATUS = 2
 request current flag status, result ER_ONOFF_DISABLE, ER_ONOFF_ENABLE More...
 
const long ER_ROT_IDENT = 0
 Rotation Index: Identity, erMath_Frame_Rot() More...
 
const long ER_ROT_X = 1
 Rotation Index: Rotation about x axis, erMath_Frame_Rot() More...
 
const long ER_ROT_Y = 2
 Rotation Index: Rotation about y axis, erMath_Frame_Rot() More...
 
const long ER_ROT_Z = 3
 Rotation Index: Rotation about z axis, erMath_Frame_Rot() More...
 
const long ER_ROT_XYZ = 1
 Rotation Index: RotX*RotY*RotZ, EASY-ROB, Staeubli CS8, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_ZYX = 2
 Rotation Index: RotZ*RotY*RotX, KUKA, Reis, Kobelco, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_YXZ = 3
 Rotation Index: RotY*RotX*RotZ, BOSCH, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_ZYZ = 4
 Rotation Index: RotZ*RotY*RotZ, Staeubli CS7, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_XYX = 5
 Rotation Index: RotX*RotY*RotX, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_RPY = 6
 Rotation Index: Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_QUAT = 7
 Rotation Index: Quaternion, ABB, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_CA = 8
 Rotation Index: Tricept C-RotZ, A-RotX, NC, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_ZYpZ = 9
 Rotation Index: RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, Euler, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_Y9XZ = 10
 Rotation Index: RotY*RotX*RotZ,b+m T1 xx7xx, [-90..+90] [-180..+180] [-180..+180] (~BOSCH), erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_Z9XY = 11
 Rotation Index: RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_Z9XZ = 12
 Rotation Index: RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_Z9YX = 13
 Rotation Index: RotZ*RotY*RotX,b+m T1 xx4xx, [-90..+90] [-180..+180] [-180..+180] (~KUKA), erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_IJK = 14
 Rotation Index: Approach Axis Vector, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_ROT_ANGLE_1 = 15
 Rotation Index: One Axis Angle Rotation, erMath_VecToFrameIdx(), erMath_FrameToVecIdx. More...
 
const long ER_COLL_QUERY_TYPE_UNDEF = 0
 no collision check More...
 
const long ER_COLL_QUERY_TYPE_COLLIDE = 1
 detects collision between two PQP_Models, erColl_ChkCollision() More...
 
const long ER_COLL_QUERY_TYPE_DISTANCE = 2
 computes the minimum distance between two PQP_Models, erColl_ChkCollision() More...
 
const long ER_COLL_QUERY_TYPE_TOLERANCE = 3
 checks if distance between PQP_Models is <= tolerance, erColl_ChkCollision() More...
 
const int ER_COLL_ALL_CONTACTS = 1
 find all pairwise intersecting triangles, erColl_ChkCollision() More...
 
const int ER_COLL_FIRST_CONTACT = 2
 report first intersecting tri pair found, erColl_ChkCollision() More...
 
const int ER_COLL_OK = 0
 Used by all API routines upon successful completion except. More...
 
const int ER_COLL_ERR_MODEL_OUT_OF_MEMORY = -1
 Returned when an API function cannot obtain enough memory to store or process a PQP_Model object. More...
 
const int ER_COLL_ERR_OUT_OF_MEMORY = -2
 Returned when a PQP query cannot allocate enough storage to compute or hold query information. In this case, the returned data should not be trusted. More...
 
const int ER_COLL_ERR_UNPROCESSED_MODEL = -3
 Returned when an unprocessed model is passed to a function which expects only processed models, such as PQP_Collide() or PQP_Distance(). More...
 
const int ER_COLL_ERR_BUILD_OUT_OF_SEQUENCE = -4
 Returned when: 1. erColl_AddTri() is called before erColl_BeginModel(). 2. erColl_BeginModel() is called immediately after erColl_AddTri(). This error code is something like a warning: the invoked operation takes place anyway, and PQP does what makes "most sense", but the returned error code may tip off the client that something out of the ordinary is happenning. More...
 
const int ER_COLL_ERR_BUILD_EMPTY_MODEL = -5
 Returned when erColl_EndModel() is called on a model to which no triangles have been added. This is similar in spirit to the OUT_OF_SEQUENCE return code, except that the requested operation has FAILED – the model remains "unprocessed", and the client may NOT use it in queries. More...
 
const int ER_COLL_ERROR = 1
 Error, kernel not initialized or option not licensed. More...
 
const int ER_COLL_HND_INVALID = 2
 Error, invalid collision handle. More...
 
const int ER_COLL_DETECTED = 3
 Result if Collision detected erColl_ChkCollision() More...
 
const double AUTOPATH_SDK_KIN_EPSI = 0.5e-6
 epsi More...
 
const int AUTOPATH_SDK_KIN_DOFS = 24
 Maximum number of configuration space (Degrees-of-Freedom for a kinematics) More...
 
const int AUTOPATH_SDK_AXIS_BIT_ALL = 0x0
 axisBit Axis all More...
 
const int AUTOPATH_SDK_AXIS_BIT_1 = 0x1
 axisBit Axis 1 More...
 
const int AUTOPATH_SDK_AXIS_BIT_2 = 0x2
 axisBit Axis 2 More...
 
const int AUTOPATH_SDK_AXIS_BIT_3 = 0x4
 axisBit Axis 3 More...
 
const int AUTOPATH_SDK_AXIS_BIT_4 = 0x8
 axisBit Axis 4 More...
 
const int AUTOPATH_SDK_AXIS_BIT_5 = 0x10
 axisBit Axis 5 More...
 
const int AUTOPATH_SDK_AXIS_BIT_6 = 0x20
 axisBit Axis 6 More...
 
const int AUTOPATH_SDK_AXIS_BIT_7 = 0x40
 axisBit Axis 7 More...
 
const int AUTOPATH_SDK_AXIS_BIT_8 = 0x80
 axisBit Axis 8 More...
 
const int AUTOPATH_SDK_AXIS_BIT_9 = 0x100
 axisBit Axis 9 More...
 
const int AUTOPATH_SDK_AXIS_BIT_10 = 0x200
 axisBit Axis 10 More...
 
const int AUTOPATH_SDK_AXIS_BIT_11 = 0x400
 axisBit Axis 11 More...
 
const int AUTOPATH_SDK_AXIS_BIT_12 = 0x800
 axisBit Axis 12 More...
 
const int AUTOPATH_SDK_AXIS_BIT_13 = 0x1000
 axisBit Axis 13 More...
 
const int AUTOPATH_SDK_AXIS_BIT_14 = 0x2000
 axisBit Axis 14 More...
 
const int AUTOPATH_SDK_AXIS_BIT_15 = 0x4000
 axisBit Axis 15 More...
 
const int AUTOPATH_SDK_AXIS_BIT_16 = 0x8000
 axisBit Axis 16 More...
 
const int AUTOPATH_SDK_AXIS_BIT_17 = 0x10000
 axisBit Axis 17 More...
 
const int AUTOPATH_SDK_AXIS_BIT_18 = 0x20000
 axisBit Axis 18 More...
 
const int AUTOPATH_SDK_AXIS_BIT_19 = 0x40000
 axisBit Axis 19 More...
 
const int AUTOPATH_SDK_AXIS_BIT_20 = 0x80000
 axisBit Axis 20 More...
 
const int AUTOPATH_SDK_AXIS_BIT_21 = 0x100000
 axisBit Axis 21 More...
 
const int AUTOPATH_SDK_AXIS_BIT_22 = 0x200000
 axisBit Axis 22 More...
 
const int AUTOPATH_SDK_AXIS_BIT_23 = 0x400000
 axisBit Axis 23 More...
 
const int AUTOPATH_SDK_AXIS_BIT_24 = 0x800000
 axisBit Axis 24 More...
 
const int AUTOPATH_SDK_AXIS_BIT_DOF6 = 0x3F
 axisBit Axis 1..6 More...
 
const int AUTOPATH_SDK_OK = 0
 AutoPath method successful. More...
 
const int AUTOPATH_SDK_ERROR = 1
 Error in AutoPath method. More...
 
const int AUTOPATH_SDK_INVALID_LICENSE = 2
 Error, AutoPath not licensed. More...
 
const int AUTOPATH_SDK_PARAMETER_DYNADJUST = 1
 Dynamic adjust Accuracy: 1-on, 0-off. More...
 
const int AUTOPATH_SDK_PARAMETER_ALGORITHM = 2
 Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS. More...
 
const int AUTOPATH_SDK_PARAMETER_NTREES = 3
 Number of Trees [2..32]. More...
 
const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS = 4
 Minimize number of WayPoints: 1-on, 0-off. More...
 
const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR = 5
 Force deterministic behavior: 1-on, 0-off. More...
 
const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE = 6
 Limit revolute joints in C-Space: 1-on, 0-off. More...
 
const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY = 7
 Thread priority: 0-normal, 1-low, 2-high. More...
 
const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION = 8
 Enables Thread Execution: 1-on, 0-off. More...
 
const int AUTOPATH_SDK_PARAMETER_SEED_VALUE = 9
 Random starting seed value to influence findpath behavior. More...
 
const int AUTOPATH_SDK_ALGORITHM_USER_FCT = 1
 Path Planner Algorithm: 1-User Fct. More...
 
const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT = 2
 Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees) More...
 
const int AUTOPATH_SDK_ALGORITHM_RTD_BBS = 3
 Path Planner Algorithm: 3-RTD BBS. More...
 
const int AUTOPATH_SDK_AXIS_TYPE_ROBOT = 1
 Axis Type Robot axis. More...
 
const int AUTOPATH_SDK_AXIS_TYPE_TRACK = 2
 Axis Type External Track axis. More...
 
const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER = 3
 Axis Type External Positioner axis. More...
 
const int AUTOPATH_SDK_AXIS_TYPE_EXTERN = 4
 Axis Type other external Axis. More...
 
const int AUTOPATH_SDK_AXIS_TYPE_AUX = 5
 Axis Type Aux Axis. More...
 
const int AUTOPATH_SDK_RESULT_CHECKS = 1
 Number of Checks during AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_SECONDS = 2
 Elapsed time in seconds for AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_CPS = 3
 Number of Check per seconds for AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_CFREE = 4
 Number of CFree Checks during AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_COBSTACLE = 5
 Number of CObstacle Checks during AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_CDENSITY = 6
 Density in [%] = Number of CObstacle / (Number of CFree + Number of CObstacle) during AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_DSECONDS = 7
 Elapsed time in deciseconds (1/10) for AutoPath calculation. More...
 
const int AUTOPATH_SDK_RESULT_SEED_VALUE = 8
 Random starting seed value to influence findpath behavior. More...
 
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX = 9
 Quality Index based on calculated way points. More...
 
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV = 10
 Quality Index Standard Deviation, based on calculated way points. More...
 
const int AUTOPATH_SDK_CONSTRAINT_RESET = 0x0
 Reset Constraints to min. and max. travel ranges. More...
 
const int AUTOPATH_SDK_CONSTRAINT_MIN = 0x1
 Set ConstraintMin. More...
 
const int AUTOPATH_SDK_CONSTRAINT_MAX = 0x2
 Set ConstraintMax. More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF = 0x0
 action parameter is undefined for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_START = 0x1
 action parameter is StartPose for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST = 0x2
 action parameter is DestPose for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION = 0x4
 action parameter is Collision for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE = 0x8
 action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE = 0x10
 action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20 = 0x20
 action parameter is tbd More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40 = 0x40
 action parameter is tbd More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80 = 0x80
 action parameter is tbd More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE = 0x100
 action parameter chk constraint for callback fct SetCallback_CheckConstraints() More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200 = 0x200
 action parameter is tbd More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400 = 0x400
 action parameter is tbd More...
 
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800 = 0x800
 action parameter is tbd More...
 
const int AUTOPATH_SDK_STATUS_MP_START = 0x1000
 AutoPath calculation started. More...
 
const int AUTOPATH_SDK_STATUS_MP_ABORT = 0x2000
 AutoPath calculation aborted. More...
 
const int AUTOPATH_SDK_STATUS_MP_SUCCESS = 0x4000
 AutoPath calculation successful. More...
 
const int AUTOPATH_SDK_STATUS_MP_FAILURE = 0x8000
 AutoPath calculation failed. More...
 
const int AUTOPATH_SDK_STATUS_MP_IDLE = 0x10000
 AutoPath is idle. More...
 
const int AUTOPATH_SDK_STATUS_MP_RUNNING = 0x20000
 AutoPath in process. More...
 
const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS = 0x40000
 AutoPath minimize number of WayPoint. More...
 
const int AUTOPATH_SDK_STATUS_MP_DEL_WAYPOINTS = 0x80000
 AutoPath delete at least one WayPoint, while minimize number of way points. More...
 
const int AUTOPATH_SDK_AXIS_ROT = 0
 Axis is rotational. More...
 
const int AUTOPATH_SDK_AXIS_TRANS = 1
 Axis is translational. More...
 

Macro Definition Documentation

#define DLLAPI
#define ER_STDCALL

Typedef Documentation

typedef unsigned int* ER_COLLISION_HND

unique Collision handle, created with erColl_BeginModel()

typedef unsigned int* ER_HND

unique Kinematics handle, created with erInitKin()

typedef double ER_REAL_TYPE
typedef unsigned int* ER_TARGET_ATTRIBUTES_AUX_HND

unique Auxiliary motion attributes handle

typedef unsigned int* ER_TARGET_ATTRIBUTES_HND

unique Motion attributes handle

typedef unsigned int* ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND

unique External device definition for Conveyor

unique External axis data definition for Positioner/TurnTable handle

unique External axis data definition for Track/Slider handle

typedef unsigned int* ER_TARGET_HEAD_HND

unique Header data handle

typedef unsigned int* ER_TARGET_INSTRUCTIONS_HND

Instructions, individual information text.

typedef unsigned int* ER_TARGET_LOCATION_HND

unique Target location handle, created with erAddTargetLocation()

typedef unsigned int* ER_TARGET_MOTION_EXEC_HND

unique handle for motion execution data at target

typedef unsigned int* ER_TARGET_MOVE_CP_HND

unique Target data for CP Move handle

typedef unsigned int* ER_TARGET_MOVE_JOINT_HND

unique Target data for Joint Move handle

typedef unsigned int* ER_TOOLPATH_HND

unique Tool path handle, created with erInitToolPath()

typedef unsigned int* Host_HND

unique Host handle given from Host, NULL per default, erInitKin()

typedef void* TErExtraData

additional notification data, tbd, TerNotifyProc()

typedef long(ER_STDCALL* TerFreeGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle)

Callback function type definition to free or delete a geometry, erSetCallBack_FreeGeometryProc().
This callback function is used when unloading a kinemaitcs erUnloadKin() or a tool erUnloadTool()

Parameters
[in]ErHandleunique kinematics handle ER_HND
[in]GeoHandleunique geometry handle TErGeoHandle
Return values
0- OK
1- Error
typedef unsigned int TErGeoHandle

unique Geometry handle used for callback functions TerLoadGeometryProc()

typedef long(ER_STDCALL* TerGetActualTravelRangesProc)(ER_HND ErHandle, Host_HND HostHandle, double *Joints, double *TravelRangeMin, double *TravelRangeMax)

Callback function type definition for user defined calculation of min./max. travel ranges in current joints location, erSetCallBack_GetActualTravelRangesProc()

Parameters
[in]ErHandleunique kinematics handle ER_HND
[in]HostHandleunique host handle Host_HND
[in]Jointscurrent robot joints, max size ER_KIN_DOFS
[out]TravelRangeMinminimum travel ranges, max size ER_KIN_DOFS
[out]TravelRangeMaxmaximum travel ranges, max size ER_KIN_DOFS
Return values
0- OK
1- Error
typedef long(ER_STDCALL* TerGrpSyncProc)(ER_HND ErHandle, Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData)

Callback function type definition group synchronization, erSetCallBack_GrpSyncProc()

Parameters
[in]ErHandleunique kinematics handle ER_HND
[in]HostHandleunique host handle Host_HND
[in]p_GrpSyncDatagroup synchonization data TErGrpSyncData
Return values
0- OK
1- Error
typedef TErGeoHandle(ER_STDCALL* TerLoadGeometryProc)(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data)

Callback function type definition to load a geometry, erSetCallBack_LoadGeometryProc()

Parameters
[in]ErHandleER_HND unique kinematics handle
[in]p_load_geometry_dataLOAD_GEOMETRY_DATA
Return values
TErGeoHandleunique geometry handle created by host application
typedef void(ER_STDCALL* TerLogProc)(long LogType, char *LogMessage)

Callback function type definition for Log messages, erSetCallBack_LogProc()

Parameters
[in]LogTypevalid identifiers are ER_LOG_TYPE_CONSOLE, ER_LOG_TYPE_MSG, ER_LOG_TYPE_WARNING, ER_LOG_TYPE_ERROR, ER_LOG_TYPE_STATUS
[in]LogMessagemessage string
Return values
void
typedef long(ER_STDCALL* TerNotifyProc)(ER_HND ErHandle, Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData)

Callback function type definition for notifications, erSetCallBack_NotifyProc()

Parameters
[in]ErHandleunique kinematics handle ER_HND
[in]HostHandleunique host handle Host_HND
[in]p_NotifyDatanotification data TErNotifyData
[in]ExtraDataadditional data, tbd TErExtraData
Return values
0- OK
1- Error
typedef unsigned int TErTargetID

unique Target identifier

typedef unsigned int TErTrackingWindowID

unique TrackingWindow identifier

typedef long(ER_STDCALL* TerUpdateGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle, DFRAME *KinMat)

Callback function type definition to update a geometry, erSetCallBack_UpdateGeometryProc()

Parameters
[in]ErHandleunique kinematics handle ER_HND
[in]GeoHandleunique geometry handle TErGeoHandle
[in]KinMatrobot axis location (w.r.t. robot base) where this geometry belongs to. DFRAME
Return values
0- OK
1- Error

Variable Documentation

const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT = 2

Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees)

const int AUTOPATH_SDK_ALGORITHM_RTD_BBS = 3

Path Planner Algorithm: 3-RTD BBS.

const int AUTOPATH_SDK_ALGORITHM_USER_FCT = 1

Path Planner Algorithm: 1-User Fct.

const int AUTOPATH_SDK_AXIS_BIT_1 = 0x1

axisBit Axis 1

const int AUTOPATH_SDK_AXIS_BIT_10 = 0x200

axisBit Axis 10

const int AUTOPATH_SDK_AXIS_BIT_11 = 0x400

axisBit Axis 11

const int AUTOPATH_SDK_AXIS_BIT_12 = 0x800

axisBit Axis 12

const int AUTOPATH_SDK_AXIS_BIT_13 = 0x1000

axisBit Axis 13

const int AUTOPATH_SDK_AXIS_BIT_14 = 0x2000

axisBit Axis 14

const int AUTOPATH_SDK_AXIS_BIT_15 = 0x4000

axisBit Axis 15

const int AUTOPATH_SDK_AXIS_BIT_16 = 0x8000

axisBit Axis 16

const int AUTOPATH_SDK_AXIS_BIT_17 = 0x10000

axisBit Axis 17

const int AUTOPATH_SDK_AXIS_BIT_18 = 0x20000

axisBit Axis 18

const int AUTOPATH_SDK_AXIS_BIT_19 = 0x40000

axisBit Axis 19

const int AUTOPATH_SDK_AXIS_BIT_2 = 0x2

axisBit Axis 2

const int AUTOPATH_SDK_AXIS_BIT_20 = 0x80000

axisBit Axis 20

const int AUTOPATH_SDK_AXIS_BIT_21 = 0x100000

axisBit Axis 21

const int AUTOPATH_SDK_AXIS_BIT_22 = 0x200000

axisBit Axis 22

const int AUTOPATH_SDK_AXIS_BIT_23 = 0x400000

axisBit Axis 23

const int AUTOPATH_SDK_AXIS_BIT_24 = 0x800000

axisBit Axis 24

const int AUTOPATH_SDK_AXIS_BIT_3 = 0x4

axisBit Axis 3

const int AUTOPATH_SDK_AXIS_BIT_4 = 0x8

axisBit Axis 4

const int AUTOPATH_SDK_AXIS_BIT_5 = 0x10

axisBit Axis 5

const int AUTOPATH_SDK_AXIS_BIT_6 = 0x20

axisBit Axis 6

const int AUTOPATH_SDK_AXIS_BIT_7 = 0x40

axisBit Axis 7

const int AUTOPATH_SDK_AXIS_BIT_8 = 0x80

axisBit Axis 8

const int AUTOPATH_SDK_AXIS_BIT_9 = 0x100

axisBit Axis 9

const int AUTOPATH_SDK_AXIS_BIT_ALL = 0x0

axisBit Axis all

const int AUTOPATH_SDK_AXIS_BIT_DOF6 = 0x3F

axisBit Axis 1..6

const int AUTOPATH_SDK_AXIS_ROT = 0

Axis is rotational.

const int AUTOPATH_SDK_AXIS_TRANS = 1

Axis is translational.

const int AUTOPATH_SDK_AXIS_TYPE_AUX = 5

Axis Type Aux Axis.

const int AUTOPATH_SDK_AXIS_TYPE_EXTERN = 4

Axis Type other external Axis.

const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER = 3

Axis Type External Positioner axis.

const int AUTOPATH_SDK_AXIS_TYPE_ROBOT = 1

Axis Type Robot axis.

const int AUTOPATH_SDK_AXIS_TYPE_TRACK = 2

Axis Type External Track axis.

const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE = 0x10

action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION = 0x4

action parameter is Collision for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST = 0x2

action parameter is DestPose for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE = 0x100

action parameter chk constraint for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_START = 0x1

action parameter is StartPose for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE = 0x8

action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20 = 0x20

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200 = 0x200

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40 = 0x40

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400 = 0x400

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80 = 0x80

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800 = 0x800

action parameter is tbd

const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF = 0x0

action parameter is undefined for callback fct SetCallback_CheckConstraints()

const int AUTOPATH_SDK_CONSTRAINT_MAX = 0x2

Set ConstraintMax.

const int AUTOPATH_SDK_CONSTRAINT_MIN = 0x1

Set ConstraintMin.

const int AUTOPATH_SDK_CONSTRAINT_RESET = 0x0

Reset Constraints to min. and max. travel ranges.

const int AUTOPATH_SDK_ERROR = 1

Error in AutoPath method.

const int AUTOPATH_SDK_INVALID_LICENSE = 2

Error, AutoPath not licensed.

const int AUTOPATH_SDK_KIN_DOFS = 24

Maximum number of configuration space (Degrees-of-Freedom for a kinematics)

const double AUTOPATH_SDK_KIN_EPSI = 0.5e-6

epsi

const int AUTOPATH_SDK_OK = 0

AutoPath method successful.

const int AUTOPATH_SDK_PARAMETER_ALGORITHM = 2

Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS.

const int AUTOPATH_SDK_PARAMETER_DYNADJUST = 1

Dynamic adjust Accuracy: 1-on, 0-off.

const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR = 5

Force deterministic behavior: 1-on, 0-off.

const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE = 6

Limit revolute joints in C-Space: 1-on, 0-off.

const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS = 4

Minimize number of WayPoints: 1-on, 0-off.

const int AUTOPATH_SDK_PARAMETER_NTREES = 3

Number of Trees [2..32].

const int AUTOPATH_SDK_PARAMETER_SEED_VALUE = 9

Random starting seed value to influence findpath behavior.

const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION = 8

Enables Thread Execution: 1-on, 0-off.

const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY = 7

Thread priority: 0-normal, 1-low, 2-high.

const int AUTOPATH_SDK_RESULT_CDENSITY = 6

Density in [%] = Number of CObstacle / (Number of CFree + Number of CObstacle) during AutoPath calculation.

const int AUTOPATH_SDK_RESULT_CFREE = 4

Number of CFree Checks during AutoPath calculation.

const int AUTOPATH_SDK_RESULT_CHECKS = 1

Number of Checks during AutoPath calculation.

const int AUTOPATH_SDK_RESULT_COBSTACLE = 5

Number of CObstacle Checks during AutoPath calculation.

const int AUTOPATH_SDK_RESULT_CPS = 3

Number of Check per seconds for AutoPath calculation.

const int AUTOPATH_SDK_RESULT_DSECONDS = 7

Elapsed time in deciseconds (1/10) for AutoPath calculation.

const int AUTOPATH_SDK_RESULT_QUALITY_INDEX = 9

Quality Index based on calculated way points.

const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV = 10

Quality Index Standard Deviation, based on calculated way points.

const int AUTOPATH_SDK_RESULT_SECONDS = 2

Elapsed time in seconds for AutoPath calculation.

const int AUTOPATH_SDK_RESULT_SEED_VALUE = 8

Random starting seed value to influence findpath behavior.

const int AUTOPATH_SDK_STATUS_MP_ABORT = 0x2000

AutoPath calculation aborted.

const int AUTOPATH_SDK_STATUS_MP_DEL_WAYPOINTS = 0x80000

AutoPath delete at least one WayPoint, while minimize number of way points.

const int AUTOPATH_SDK_STATUS_MP_FAILURE = 0x8000

AutoPath calculation failed.

const int AUTOPATH_SDK_STATUS_MP_IDLE = 0x10000

AutoPath is idle.

const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS = 0x40000

AutoPath minimize number of WayPoint.

const int AUTOPATH_SDK_STATUS_MP_RUNNING = 0x20000

AutoPath in process.

const int AUTOPATH_SDK_STATUS_MP_START = 0x1000

AutoPath calculation started.

const int AUTOPATH_SDK_STATUS_MP_SUCCESS = 0x4000

AutoPath calculation successful.

const int ER_APIDLL_CNTRL_INITIALIZE = 0x1

Calling status for API-DLL, Initialization allowing to allocate dynamically memory or establish a TCP/IP communication.

const int ER_APIDLL_CNTRL_SIM_START = 0x4

Calling status for API-DLL, Start indicates that the simulation starts.

const int ER_APIDLL_CNTRL_SIM_STEP = 0x8

Calling status for API-DLL, Cycle indicates one simulation step or simulation cycle within a simulation.

const int ER_APIDLL_CNTRL_SIM_STOP = 0x10

Calling status for API-DLL, Stop indicates that the simulation is aborted.

const int ER_APIDLL_CNTRL_TERMINATE = 0x2

Calling status for API-DLL, Terminate, allowing to delete allocated memory or to terminate a TCP/IP communication.

const int ER_APIDLL_CNTRL_UNDEF = 0x0

Calling status for API-DLL is undefined.

const long ER_AUTOACCEL_MODE_AX =0x4

4-auto accel calculation joints aq_axis,aq_decel_axis = f(vq_axis), erSetAutoAccel()

const long ER_AUTOACCEL_MODE_DEF =ER_AUTOACCEL_MODE_POS | ER_AUTOACCEL_MODE_ORI

Default: auto accel calculation for position and orientation, erSetAutoAccel()

const long ER_AUTOACCEL_MODE_OFF =0x0

0 no auto accel calculation, erSetAutoAccel()

all accel calculation enabled, erSetAutoAccel()

const long ER_AUTOACCEL_MODE_ORI =0x2

2-auto accel calculation for orientation ax_ori,axe_ori = f(vx_ori), erSetAutoAccel()

const long ER_AUTOACCEL_MODE_POS =0x1

1-auto accel calculation for position ax,axe = f(vx), erSetAutoAccel()

const long ER_CIRC = 4

Motion Type CIRC circular motion using via point, erSELECT_MOTION_TYPE()

const long ER_CIRC_ORI_INTERPOLATION_FIX =0x4

Keep current orientation during interpolation on a circle, hereby the orientation in start-, via- and end-point are ignored, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()

const long ER_CIRC_ORI_INTERPOLATION_START_END =0x0

Use start- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()

const long ER_CIRC_ORI_INTERPOLATION_START_VIA_END =0x1

Use start-,via- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()

const long ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END =0x2

Use start-,via- and end-location for orientation interpolation on a circle, hereby the robot reaches the orientation in via point, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()

const long ER_CIRC_ORI_INTERPOLATION_TANGENTIAL =0x3

Tangential dependent on orientation in start-location for orientation interpolation on a circle, hereby the orientation in via- and end-point are ignored, erSELECT_CIRCULAR_ORIENTATION_INTERPOLATION_MODE()

const int ER_COLL_ALL_CONTACTS = 1

find all pairwise intersecting triangles, erColl_ChkCollision()

const int ER_COLL_DETECTED = 3

Result if Collision detected erColl_ChkCollision()

const int ER_COLL_ERR_BUILD_EMPTY_MODEL = -5

Returned when erColl_EndModel() is called on a model to which no triangles have been added. This is similar in spirit to the OUT_OF_SEQUENCE return code, except that the requested operation has FAILED – the model remains "unprocessed", and the client may NOT use it in queries.

const int ER_COLL_ERR_BUILD_OUT_OF_SEQUENCE = -4

Returned when: 1. erColl_AddTri() is called before erColl_BeginModel(). 2. erColl_BeginModel() is called immediately after erColl_AddTri(). This error code is something like a warning: the invoked operation takes place anyway, and PQP does what makes "most sense", but the returned error code may tip off the client that something out of the ordinary is happenning.

const int ER_COLL_ERR_MODEL_OUT_OF_MEMORY = -1

Returned when an API function cannot obtain enough memory to store or process a PQP_Model object.

const int ER_COLL_ERR_OUT_OF_MEMORY = -2

Returned when a PQP query cannot allocate enough storage to compute or hold query information. In this case, the returned data should not be trusted.

const int ER_COLL_ERR_UNPROCESSED_MODEL = -3

Returned when an unprocessed model is passed to a function which expects only processed models, such as PQP_Collide() or PQP_Distance().

const int ER_COLL_ERROR = 1

Error, kernel not initialized or option not licensed.

const int ER_COLL_FIRST_CONTACT = 2

report first intersecting tri pair found, erColl_ChkCollision()

const int ER_COLL_HND_INVALID = 2

Error, invalid collision handle.

const int ER_COLL_OK = 0

Used by all API routines upon successful completion except.

const long ER_COLL_QUERY_TYPE_COLLIDE = 1

detects collision between two PQP_Models, erColl_ChkCollision()

const long ER_COLL_QUERY_TYPE_DISTANCE = 2

computes the minimum distance between two PQP_Models, erColl_ChkCollision()

const long ER_COLL_QUERY_TYPE_TOLERANCE = 3

checks if distance between PQP_Models is <= tolerance, erColl_ChkCollision()

const long ER_COLL_QUERY_TYPE_UNDEF = 0

no collision check

const long ER_CSTEP_STATUS_ERROR =0x1

current step status is ERROR, erGetCurrentStepData()

const long ER_CSTEP_STATUS_INV_WARNING =0x40

current step status Inverse Kinematics with warnings

const long ER_CSTEP_STATUS_IPO_IN_POSITION =0x10

current step status Robot already in Position

const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED =0x20

current step status Robot motion was stopped

const long ER_CSTEP_STATUS_OK =0x2

current step status is OK, erGetCurrentStepData()

const long ER_CSTEP_STATUS_UNDEF =0x0

current step status is not defined, erGetCurrentStepData()

const long ER_CSTEP_STATUS_VIA_POINT =0x4

current step status ViaPoint is set, waiting for CIRC Target

const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW =0x8

current step status Wait for Tracking Window

const double ER_DEG = 180.0/ER_PI

Conversion from radiant to degree.

const long ER_DH_ID =11

Device modelled with DH Denavit-Hartenberg-Transformation.

const long ER_DIM = 3

3 Dimensions

const long ER_DMAXSTR = 256

Maximum length of a medium message.

const long ER_DOF12 = 12

12 Degrees-of-Freedom

const long ER_DOF6 = 6

6 Degrees-of-Freedom

const long ER_DOF9 = 9

9 Degrees-of-Freedom

const long ER_DOF_QUAT = 7

Quaternion vector length.

const long ER_DOMINANT_INTERPOLATION_AUTO =0x4

4-dominant interpolation type, Automatic (the slowest one is leading), erSELECT_DOMINANT_INTERPOLATION()

const long ER_DOMINANT_INTERPOLATION_AXIS =0x3

3-dominant interpolation type, Axis is master, erSELECT_DOMINANT_INTERPOLATION()

const long ER_DOMINANT_INTERPOLATION_ORI =0x2

2-dominant interpolation type, Orientation is master, erSELECT_DOMINANT_INTERPOLATION()

const long ER_DOMINANT_INTERPOLATION_POS =0x1

1-dominant interpolation type, Position is master, erSELECT_DOMINANT_INTERPOLATION()

const long ER_EXTAX_KIN_DATA_MAX = 12

Maximum number of external axis data.

const long ER_FLYBY_OFF = 0

Flyby OFF, disabled.

const long ER_FLYBY_ON = 1

Flyby ON, enabled.

const long ER_FLYBY_TYPE_DISTANCE = 2

Flyby by distance [mm].

const long ER_FLYBY_TYPE_SPEED = 1

Flyby by speed [%].

const long ER_FLYBY_TYPE_UNDEF = 0

Flyby is not active = 0.

const int ER_GEO_ATTRIBUTES_BBFLAT = 0x4

GeoAttributes render bbox flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_BBWIRE = 0x8

GeoAttributes render bbox wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_BFACE_CULLING = 0x200

GeoAttributes geometry visualized back face culling, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_CHK_COLLISION = 0x10000

GeoAttributes geometry in collision queue, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_CHILD = 0x80000

GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_CHILD, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_PARENT = 0x40000

GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_PARENT, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_DEFAULT = ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO

GeoAttributes default settings.

const int ER_GEO_ATTRIBUTES_FLAT = 0x40

GeoAttributes render flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_INVERT = 0x100

GeoAttributes geometry visualized inverted 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_INVISIBLE = 0x10

GeoAttributes render invisible, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO = 0x20000

GeoAttributes geometry object memory model 1-OBJ_MEM_VBO, 0-OBJ_MEM_GRAHICS or OBJ_MEM_NATIVE_CPU, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SHOW_EDGES = 0x2000

GeoAttributes geometry visualized edges, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SHOW_MESH = 0x1000

GeoAttributes geometry visualized meshes, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SHOW_NAME = 0x400

GeoAttributes geometry visualized with name, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SHOW_NORMALS = 0x800

GeoAttributes geometry visualized with normals, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT = 0x4000

GeoAttributes geometry visualized transparent, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_SMOOTH = 0x1

GeoAttributes render smooth, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_UNDEF = 0x0

GeoAttributes undefined, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_VERTICES = 0x20

GeoAttributes render vertices, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const int ER_GEO_ATTRIBUTES_WIRE = 0x2

GeoAttributes render wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.

const long ER_GEO_PARAMETER_MAX = 12

Maximum number of reserved geometry parameter, see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_3DS = 12

Geometry Type 3DS file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_CONE = 5

Geometry Type CONE, number of parameter = 6: Radius [deg], Height [m], y-Scale, dx [m], dy [m], Angle [deg], see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_CUBE = 1

Geometry Type CUBE, number of parameter = 3: X-length [m], Y-length [m], Height [m], see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_CYLINDER = 4

Geometry Type CYLINDER, number of parameter = 9: Radius [deg], Height_1 [m], y-Scale, Radius-Top [deg], Height_2 [m], y-Scale-Top [m], dx [m], dy [m], Angle, see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_IGP = 9

Geometry Type IGP Part file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_PYRAMID = 2

Geometry Type PYRAMID, number of parameter = 5: X-length [m], Y-length [m], Height [m], dx [m], dy [m], see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_SPHERE = 6

Geometry Type SPHERE, number of parameter = 5: Radius [deg], y-Scale, Angle [deg], Beta_1 [deg], Beta_2 [deg], see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_STL = 11

Geometry Type STL ascii or binary file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA.

const long ER_GEO_TYPE_WEDGE = 3

Geometry Type WEDGE, number of parameter = 7: X-length [m], Y-length [m], Height [m], X-Top [m], Y-Top [m], dx [m], dy [m], see LOAD_GEOMETRY_DATA.

const long ER_GRPSYNC_GET_DURATION_MAX = 2

MoveSync, get max duration of motion times of all robots in KIR group.

const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN = 3

MoveSync, get min ov of all robots in KIR group.

const long ER_GRPSYNC_GET_SYNC_DISCRETE = 0

ProcSync, aks status for SyncIDDiscrete.

const long ER_GRPSYNC_SET_DURATION = 1

MoveSync, set duration of calculated motion time for current move.

const long ER_GRPSYNC_SET_OV_SPEED_RED = 4

MoveSync, set current ov resulted from speed reduction.

const long ER_HS_MAXSTR = 1024

Maximum length of a huge message.

const long ER_JOINT = 1

Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()

const long ER_KIN_CONFIGS = 8

Maximum number of possible robot configurations.

const long ER_KIN_DOFS = 12

Maximum number of Degrees-of-Freedom for a kinematics.

const long ER_KIN_PASSIVE_JNTS = 36

Maximum number of passive joints for a kinematics.

const long ER_LICENSE_PRIORITY_DEFAULT = ER_LICENSE_PRIORITY_LMNGR

check Lmngr license first

const long ER_LICENSE_PRIORITY_LMNGR = 0x1

check Lmngr license first

const long ER_LICENSE_PRIORITY_LOCAL = 0x2

check local license first

const long ER_LICENSE_PRIORITY_UNDEF = 0x0

license priority not defined

const long ER_LIN = 2

Motion Type LIN linear motion, erSELECT_MOTION_TYPE()

const long ER_LOG_TYPE_CONSOLE = -1

Log Message output to console window.

const long ER_LOG_TYPE_ERROR = 2

error Log Message, callback function TerLogProc()

const long ER_LOG_TYPE_MSG = 0

simple Log Message, callback function TerLogProc()

const long ER_LOG_TYPE_STATUS = 3

status Log Message, callback function TerLogProc()

const long ER_LOG_TYPE_WARNING = 1

warning Log Message, callback function TerLogProc()

const long ER_LS_MAXSTR = 512

Maximum length of a long message.

const double ER_m2mm = 1000.0

Conversion from [mm] to [m].

const long ER_MAXSTR = 128

Maximum length of a short message.

const double ER_mm2m = 0.001

Conversion from [m] to [mm].

const int ER_MOP_GNS_ERROR = -1
const int ER_MOP_GNS_NEED_MORE_DATA = 1
const int ER_MOP_GNS_OK_SUCCESS = 0
const int ER_MOP_GNS_TARGET_REACHED = 2
const int ER_MOP_GNS_TOOLPATH_REACHED = 3
const int ER_MOP_GNT_ERROR = -1
const int ER_MOP_GNT_NO_TARGETS = -2
const int ER_MOP_GNT_OK_SUCCESS = 0
const int ER_MOP_GNTPS_CNTRL_INIT = 0x1

Get Next Tool Path Step, Initialize ToolPath interpolation.

const int ER_MOP_GNTPS_CNTRL_LOG_FILE = 0x100

Get Next Tool Path Step, creates log file, use with ER_MOP_GNTPS_CNTRL_INIT.

const int ER_MOP_GNTPS_CNTRL_NEXT_STEP = 0x4

Get Next Tool Path Step, Calculate one interpolation step.

const int ER_MOP_GNTPS_CNTRL_PRG_FILE = 0x200

Get Next Tool Path Step, creates prg file, use with ER_MOP_GNTPS_CNTRL_INIT.

const int ER_MOP_GNTPS_CNTRL_STEPDATA_OUT = 0x800

Get Next Tool Path Step, writes current StepData into dat stream, use with ER_MOP_GNTPS_CNTRL_NEXT_STEP.

const int ER_MOP_GNTPS_CNTRL_TBD_08 = 0x8

tbd

const int ER_MOP_GNTPS_CNTRL_TERMINATE = 0x2

Get Next Tool Path Step, Terminate ToolPath interpolation.

const int ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT = 0x400

Get Next Tool Path Step, writes contents for current ToolPath into file stream, use with ER_MOP_GNTPS_CNTRL_INIT.

const int ER_MOP_GNTPS_CNTRL_UNDEF = 0x0

Get Next Tool Path Step, undefined request.

const int ER_MOP_GNTPS_CNTRL_UPDATE_GEO = 0x10

Get next tool path step, call erUpdateGeo() for each simulation step, use with ER_MOP_GNTPS_CNTRL_NEXT_STEP.

const int ER_MOP_SNT_ERROR = -1
const int ER_MOP_SNT_NEED_MORE_DATA = 1
const int ER_MOP_SNT_OK_SUCCESS = 0
const long ER_MOTION_FILTER_C2 = 1

Motion filter set to c2-velocity profile, erSET_MOTION_FILTER()

const long ER_MOTION_FILTER_GEO = 0

Motion filter set to geometric velocity profile, erSET_MOTION_FILTER()

const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED = 207

Code notify error, cannot find a valid configuration.

const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED = 409

Code notify warning, maximum joint acceleration exceeded.

const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED = 408

Code notify warning, maximum joint speed exceeded.

const long ER_NOTIFY_CODE_IPO_EXEC_ERROR = 403

Code notify internal error -68, stop Get_Next_Step.

const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE = 404

Code notify error -68, Cannot calculate next step.

const long ER_NOTIFY_CODE_IPO_EXEC_POS_OUT_OF_RANGE = 406

Code notify error -52, cartesian position is out of work range.

const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR = 407

Code notify warning -1059, Cartesian position is singular.

const long ER_NOTIFY_CODE_IPO_EXEC_RUNNING = 301

Code notify, execution running, internal error -79, Not ready to receive targets.

const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START = 401

Code notify warning, Start Speed reduction.

const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP = 402

Code notify warning, Stop Speed reduction.

const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED = 305

Code notify, error -17, specified motion type is not supported.

const long ER_NOTIFY_CODE_IPO_NEW_PREP_PATH = 302

Code notify, preparation running,internal error -79, Not ready to receive targets.

const long ER_NOTIFY_CODE_IPO_POS_OUT_OF_BOUNDARY = 405

Code notify error -1053, Cartesian position is out of boudary work range.

const long ER_NOTIFY_CODE_IPO_PREP_CONFIG = 304

Code notify, warning Cannot change configuration during LIN or CIRC move.

const long ER_NOTIFY_CODE_IPO_PREP_ERROR = 303

Code notify, praparation failed,internal error -68.

const long ER_NOTIFY_CODE_IPO_PREP_INVALID_CHANGE_OF_TRACKING_BASE = 308

Code notify, error -76 , Direkter Wechsel von einem Tracking Base zum anderem nicht mglich. Zwischenpunkt mit festem Bezugssystem einfgen

const long ER_NOTIFY_CODE_IPO_PREP_INVALID_IPO_WHILE_TRACKING = 307

Code notify, error -76, PTP/ABS-Joint Interpolation in einer koordinierten Bewegung (Tracking) nicht erlaubt.

const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE = 306

Code notify, error -78. Cannot prepare motion.

const long ER_NOTIFY_CODE_OK = 0

Code notify level: OK 0.

const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID = 203

Code notify error, invalid configuration.

const long ER_NOTIFY_CODE_WARN_ERROR = 206

Code notify error, ERROR.

const long ER_NOTIFY_CODE_WARN_NO_INVKIN = 204

Code notify error, device has no inverse kinematics.

const long ER_NOTIFY_CODE_WARN_SINGULAR = 201

Code notify warning, robot in singularity.

const long ER_NOTIFY_CODE_WARN_SWE_EXCEED = 205

Code notify warning, location ok but travel ranges are exceeded.

const long ER_NOTIFY_CODE_WARN_UNREACH = 202

Code notify error, location unsrechable.

const long ER_NOTIFY_DOMAIN_FILE_IO = 2

Domain notify level: FILE_IO 101-200.

const long ER_NOTIFY_DOMAIN_GLOBAL = 1

Domain notify level: GLOBAL 1-100.

const long ER_NOTIFY_DOMAIN_KIN_CALC = 3

Domain notify level: KIN_CALC 201-300.

const long ER_NOTIFY_DOMAIN_MOTION_EXEC = 5

Domain notify level: MOTION_EXEC 401-500 Get_Next_Step.

const long ER_NOTIFY_DOMAIN_MOTION_PREP = 4

Domain notify level: MOTION_PREP 301-400 Set_Next_Target.

const long ER_NOTIFY_DOMAIN_OK = 0

Domain notify level: OK 0.

const long ER_NOTIFY_TYPE_ERROR = 2

Notify Type Level: ERROR 2.

const long ER_NOTIFY_TYPE_INTERNAL_ERROR = 3

Notify Type Level: Initial ERROR 3.

const long ER_NOTIFY_TYPE_MSG = 0

Notify Type Level: OK 0, send simple messages with ER_NOTIFY_DOMAIN_OK or ER_NOTIFY_CODE_OK.

const long ER_NOTIFY_TYPE_WARNING = 1

Notify Type Level: Warning 1.

const long ER_ONOFF_DISABLE = 0

disable flag

const long ER_ONOFF_ENABLE = 1

enable flag

const long ER_ONOFF_STATUS = 2

request current flag status, result ER_ONOFF_DISABLE, ER_ONOFF_ENABLE

const long ER_OUPUT_FORMAT_CART_JOINT_ANGLE_DIST = 5

desired output_format for erGET_NEXT_STEP is Cartesian and joint angle/distance

const long ER_OUPUT_FORMAT_CART_JOINT_ENCODER = 4

desired output_format for erGET_NEXT_STEP is Cartesian and joint encoder

const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST = 2

desired output_format for erGET_NEXT_STEP is Joint angle/distance

const long ER_OUPUT_FORMAT_JOINT_ENCODER = 1

desired output_format for erGET_NEXT_STEP is Joint encoder

const long ER_OUPUT_FORMAT_W_ORIENTATION = 3

desired output_format for erGET_NEXT_STEP is Cartesian ( w/orientation )

const double ER_PI = 3.14159265359

PI.

const long ER_PTP = ER_JOINT

Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()

const long ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE = 4

PTP solution calculated within travel ranges, if possible, NEXT_TARGET_DATA.

const long ER_PTP_TARGET_CALC_MODE_MATH = 3

PTP solution calculated mathematical [-180, 180], NEXT_TARGET_DATA.

const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE = 1

PTP solution calculated by shortest angle, NEXT_TARGET_DATA.

const long ER_PTP_TARGET_CALC_MODE_TURNS = 2

PTP solution calculated using turns, NEXT_TARGET_DATA.

const long ER_PTP_TARGET_CALC_MODE_UNDEF = 0

default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, NEXT_TARGET_DATA

const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG = 5

PTP solution calculated by variable configuration, NEXT_TARGET_DATA.

const double ER_RAD = ER_PI/180.0

Conversion from degree to radiant.

const long ER_ROT_ANGLE_1 = 15

Rotation Index: One Axis Angle Rotation, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_CA = 8

Rotation Index: Tricept C-RotZ, A-RotX, NC, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_IDENT = 0

Rotation Index: Identity, erMath_Frame_Rot()

const long ER_ROT_IJK = 14

Rotation Index: Approach Axis Vector, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_QUAT = 7

Rotation Index: Quaternion, ABB, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_RPY = 6

Rotation Index: Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_X = 1

Rotation Index: Rotation about x axis, erMath_Frame_Rot()

const long ER_ROT_XYX = 5

Rotation Index: RotX*RotY*RotX, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_XYZ = 1

Rotation Index: RotX*RotY*RotZ, EASY-ROB, Staeubli CS8, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_Y = 2

Rotation Index: Rotation about y axis, erMath_Frame_Rot()

const long ER_ROT_Y9XZ = 10

Rotation Index: RotY*RotX*RotZ,b+m T1 xx7xx, [-90..+90] [-180..+180] [-180..+180] (~BOSCH), erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_YXZ = 3

Rotation Index: RotY*RotX*RotZ, BOSCH, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_Z = 3

Rotation Index: Rotation about z axis, erMath_Frame_Rot()

const long ER_ROT_Z9XY = 11

Rotation Index: RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_Z9XZ = 12

Rotation Index: RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_Z9YX = 13

Rotation Index: RotZ*RotY*RotX,b+m T1 xx4xx, [-90..+90] [-180..+180] [-180..+180] (~KUKA), erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_ZYpZ = 9

Rotation Index: RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, Euler, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_ZYX = 2

Rotation Index: RotZ*RotY*RotX, KUKA, Reis, Kobelco, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_ROT_ZYZ = 4

Rotation Index: RotZ*RotY*RotZ, Staeubli CS7, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.

const long ER_RRRRRR_BL_ID =3

Device modelled as fixed articulated RRR:RRR type with back link, such as an ABB IRB-1400.

const long ER_RRRRRR_ID =1

Device modelled as fixed articulated RRR:RRR type, such as Manutec.

const long ER_SLEW = 3

Motion Type SLEW, Async PTP or AbsJoint, erSELECT_MOTION_TYPE()

const long ER_SYNC_CONVEYOR =0x4

device synchronization for track motion with Conveyor, tbd

const long ER_SYNC_OFF =0x1

device synchronization OFF

const long ER_SYNC_OFF_TRACKING_WINDOWS_ON = 0x10

device synchronization OFF while Tracking Window active, tbd

const long ER_SYNC_ON =0x2

device synchronization ON

const long ER_SYNC_UNDEF =0x0

device synchronization not defined

const long ER_SYNC_VR_OFF =0x8

device synchronization, tbd

const long ER_TARGET_TYPE_ABS = 0

Target w.r.t object frame.

const long ER_TARGET_TYPE_ABSJOINT = 9

Target single axis motion,if motion_type = JOINT –> AbsJoint.

const long ER_TTTRRR_ID =2

Device modelled as 6 DOF Gantry TTT:RRR type.

const long ER_UNIV_ROB_ID =10

Device modelled with universal coordinates.

const int INV_WARN_CNFG =3

ERROR calulating inverse solution for current robot configuration.

const int INV_WARN_ERROR =-1

ERROR in inverse kinematics calculation.

const int INV_WARN_NO_INVKIN =4

ERROR kinematics has no inverse kinematics defned.

const int INV_WARN_OK =0

inverse kinematics calculation successful "OK", target location is reachable

const int INV_WARN_SINGULAR =1

Warning: Target location is reachable, but location is in singularity.

const int INV_WARN_SWE_EXCEED =5

Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges are exceeded.

const int INV_WARN_UNREACH =2

inverse kinematics calculation failed, target location is unreachable

const long IPO_MODE_BASE =0

Interpolation mode is w.r.t. BASE (work object)

const long IPO_MODE_TOOL =1

Interpolation mode is w.r.t. external TCP.

const long JNT_CHAIN_TYPE_CHAIN = 1

Robot Joint is in the kinematics chain.

const long JNT_CHAIN_TYPE_NO_CHAIN = 2

Robot Joint is NOT in the kinematics chain.

const long JNT_CHAIN_TYPE_SEP_NO_CHAIN = 3

Robot Joint is separated & NOT in the kinematics chain.

const long JNT_DIRECTION_X = 1

Robot Joint is in X direction.

const long JNT_DIRECTION_Y = 2

Robot Joint is in Y direction.

const long JNT_DIRECTION_Z = 3

Robot Joint is in Z direction.

const long JNT_TYPE_ROT =0

Robot Joint is rotational.

const long JNT_TYPE_TRANS =1

Robot Joint is prismatic.

const long KIN_A2A3_COUPLING_NO =0

Robot has no axis coupling between axis 2 and 3.

const long KIN_A2A3_COUPLING_UNKNOWN =2

Robot has no informaton about axis coupling between axis 2 and 3.

const long KIN_A2A3_COUPLING_YES =1

Robot has axis coupling between axis 2 and 3.

const long KIN_BACK_LINK_NO =0

Robot has no Backlink.

const long KIN_BACK_LINK_UNKNOWN =2

Robot has no informaton about Backlink.

const long KIN_BACK_LINK_YES =1

Robot has a Backlink.

const long KIN_COUNTER_WEIGHT_NO =0

Robot has no counter weight.

const long KIN_COUNTER_WEIGHT_UNKNOWN =2

Robot has no information about counter weight.

const long KIN_COUNTER_WEIGHT_YES =1

Robot has a counter weight.

const long TRK_WND_INSIDE = 2

Robot is inside Tracking window = 2;.

const long TRK_WND_NOT_ACTIVE = 0

Tracking window is not active = 0.

const long TRK_WND_OUT_OF_BOUNDARY = 3

Robot outside tracking window boundary = 3;.

const long TRK_WND_WAITING = 1

Robot is waiting for Tracking window = 1.