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erk_capi_types.h
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1 /*
2  EASY-ROB Robotics Simulation Kernel
3 
4  EASY-ROB Software GmbH
5 
6  Copyright (c) 1996 - 2021
7 
8  Date: JUL 2021
9  Version: 8.307
10 
11  Header file
12  erk_capi_types.h
13 
14  Autor
15  EASY-ROB Software GmbH
16 
17  Versions
18  v6303 nov 2013
19  v6306 may 2014
20  v6307 aug 2014
21  v6310 dec 2014
22  v6601 jan 2015
23  v6603 feb 2015
24  v6604 mar 2015
25  v6606 jul 2015
26  v6608 jul 2015 VS 2012
27  v6609 jul 2015 erColl_ChkCollision_res() thread save
28  v6610 sep 2015 erColl_ChkCollision_res_free()
29  v6611 dec 2015 Support ER_MOTION_FILTER_GEO for external axis
30  v6612 jan 2916 BugFix MultiKIN Option, erGet_n_Kin_IR()
31  v7001 mar 2016 Major Release, MatrixLock
32  v7002 jun 2016
33  v7003 jul 2016 0-DOF Devices
34  v7004 aug 2016
35  v7005 sep 2016
36  v7302 apr 2017
37  v7305 sep 2017
38  v7306 dec 2017
39  v7309 mar 2018
40  v7601 apr 2018
41  v7602 may 2018 API PostProc
42  v7603 jul 2018
43  v7606 nov 2018
44  v7607 feb 2019 autopath
45  v8001 aug 2019
46  v8003 sep 2019
47  v8004 dec 2019
48  v8005 feb 2020
49  v8006 may 2020
50  v8007 jun 2020
51  v8301 jul 2020
52  v8307 jul 2021
53 */
54 
55 #ifndef _erk_capi_types_h
56 #define _erk_capi_types_h
57 
58 #ifdef _WIN32
59 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
60 // Windows
61 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
62 //
63 #define DLLAPI __declspec(dllexport)
64 #define ER_STDCALL __stdcall
65 
66 #else
67 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
68 // Linux
69 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
70 //
71 #define DLLAPI
72 #define ER_STDCALL
73 
74 #endif //_WIN32
75 
81 typedef struct {
82  double n[3],
83  o[3],
84  a[3],
85  p[3];
86 } DFRAME;
87 
88 const long ER_KIN_CONFIGS = 8;
89 const long ER_KIN_DOFS = 12;
90 const long ER_KIN_PASSIVE_JNTS = 36;
91 const long ER_DOF6 = 6;
92 const long ER_DOF_QUAT = 7;
93 const long ER_DOF9 = 9;
94 const long ER_DOF12 = 12;
95 const long ER_DIM = 3;
96 const long ER_MAXSTR = 128;
97 const long ER_DMAXSTR = 256;
98 const long ER_LS_MAXSTR = 512;
99 const long ER_HS_MAXSTR = 1024;
100 
101 const double ER_PI = 3.14159265359;
102 const double ER_DEG = 180.0/ER_PI;
103 const double ER_RAD = ER_PI/180.0;
104 const double ER_mm2m = 0.001;
105 const double ER_m2mm = 1000.0;
106 
107 const int ER_APIDLL_CNTRL_UNDEF = 0x0;
109 const int ER_APIDLL_CNTRL_TERMINATE = 0x2;
110 const int ER_APIDLL_CNTRL_SIM_START = 0x4;
111 const int ER_APIDLL_CNTRL_SIM_STEP = 0x8;
112 const int ER_APIDLL_CNTRL_SIM_STOP = 0x10;
113 
114 //const int ER_APIDLL_CALL_UNDEF = 0x0; // undefined
115 //const int ER_APIDLL_CALL_LOAD_CELL = 0x1; // load_cell APIDLL_CNTRL_INITIALIZE
116 //const int ER_APIDLL_CALL_LOAD_ROBOT = 0x2; // load_robot APIDLL_CNTRL_INITIALIZE
117 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_K = 0x4; // load_new_robot_data APIDLL_CNTRL_INITIALIZE KIN
118 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_I = 0x8; // load_new_robot_data APIDLL_CNTRL_INITIALIZE IPO
119 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_D = 0x10;// load_new_robot_data APIDLL_CNTRL_INITIALIZE DYN
120 //const int ER_APIDLL_CALL_DELETE_ROBOT = 0x20; // data_delete_robot, APIDLL_CNTRL_TERMINATE
121 //const int ER_APIDLL_CALL_DELETE_ROBOT_ALL = 0x40; // RemoveRobot_All, APIDLL_CNTRL_TERMINATE
122 //const int ER_APIDLL_CALL_CREATE_ROBOT = 0x80; // createkinematic_ext APIDLL_CNTRL_INITIALIZE
123 //const int ER_APIDLL_CALL_MODIFY_INVKIN = 0x100; // modify_invkin APIDLL_CNTRL_INITIALIZE
124 //const int ER_APIDLL_CALL_IPO_ALL_MODE = 0x200; // ipo all motypes APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
125 //const int ER_APIDLL_CALL_IPO_JOINT = 0x400; // ipo_joint APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
126 //const int ER_APIDLL_CALL_IPO_CP = 0x800; // ipo_cp APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
127 //const int ER_APIDLL_CALL_IPO_CIRC = 0x1000; // ipo_circ APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
128 //
129 //const int ER_APIDLL_DEVIDX_ALL = 0; // For all devices
130 //const int ER_APIDLL_DEVIDX_CURRENT = -1; // For the current device only
131 
132 #ifdef _WIN64
133 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
134 // Windows x64
135 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
136 //
137 typedef UINT_PTR* ER_HND;
138 typedef UINT_PTR* Host_HND;
139 typedef UINT_PTR TErGeoHandle;
140 typedef UINT_PTR TErTargetID;
141 typedef UINT_PTR TErTrackingWindowID;
142 typedef UINT_PTR *ER_COLLISION_HND;
143 
144 typedef UINT_PTR *ER_TOOLPATH_HND;
145 typedef UINT_PTR *ER_TARGET_LOCATION_HND;
146 typedef UINT_PTR *ER_TARGET_HEAD_HND;
147 typedef UINT_PTR *ER_TARGET_INSTRUCTIONS_HND;
148 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_AUX_HND;
149 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_HND;
150 typedef UINT_PTR *ER_TARGET_MOVE_JOINT_HND;
151 typedef UINT_PTR *ER_TARGET_MOVE_CP_HND;
152 typedef UINT_PTR *ER_TARGET_MOTION_EXEC_HND;
153 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
154 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
155 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
156 
157 #elif _WIN32
158 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
159 // Windows
160 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
161 //
162 typedef unsigned int* ER_HND;
163 typedef unsigned int* Host_HND;
164 typedef unsigned int TErGeoHandle;
165 typedef unsigned int TErTargetID;
166 typedef unsigned int TErTrackingWindowID;
167 typedef unsigned int *ER_COLLISION_HND;
168 
169 typedef unsigned int *ER_TOOLPATH_HND;
170 typedef unsigned int *ER_TARGET_LOCATION_HND;
171 typedef unsigned int *ER_TARGET_HEAD_HND;
172 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
173 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
174 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
175 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
176 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
177 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
178 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
179 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
180 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
181 
182 #else
183 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
184 // Linux
185 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
186 //
187 typedef unsigned int* ER_HND;
188 typedef unsigned int* Host_HND;
189 typedef unsigned int TErGeoHandle;
190 typedef unsigned int TErTargetID;
191 typedef unsigned int TErTrackingWindowID;
192 typedef unsigned int *ER_COLLISION_HND;
193 
194 typedef unsigned int *ER_TOOLPATH_HND;
195 typedef unsigned int *ER_TARGET_LOCATION_HND;
196 typedef unsigned int *ER_TARGET_HEAD_HND;
197 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
198 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
199 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
200 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
201 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
202 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
205 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
206 
207 #endif //_WIN32
208 
209 
210 const long ER_GEO_TYPE_CUBE = 1;
211 const long ER_GEO_TYPE_PYRAMID = 2;
212 const long ER_GEO_TYPE_WEDGE = 3;
213 const long ER_GEO_TYPE_CYLINDER = 4;
214 const long ER_GEO_TYPE_CONE = 5;
215 const long ER_GEO_TYPE_SPHERE = 6;
216 const long ER_GEO_TYPE_IGP = 9;
217 const long ER_GEO_TYPE_STL = 11;
218 const long ER_GEO_TYPE_3DS = 12;
219 
220 const long ER_GEO_PARAMETER_MAX = 12;
221 
222 const int ER_GEO_ATTRIBUTES_UNDEF = 0x0;
223 const int ER_GEO_ATTRIBUTES_SMOOTH = 0x1;
224 const int ER_GEO_ATTRIBUTES_WIRE = 0x2;
225 const int ER_GEO_ATTRIBUTES_BBFLAT = 0x4;
226 const int ER_GEO_ATTRIBUTES_BBWIRE = 0x8;
227 const int ER_GEO_ATTRIBUTES_INVISIBLE = 0x10;
228 const int ER_GEO_ATTRIBUTES_VERTICES = 0x20;
229 const int ER_GEO_ATTRIBUTES_FLAT = 0x40;
230 const int ER_GEO_ATTRIBUTES_INVERT = 0x100;
232 const int ER_GEO_ATTRIBUTES_SHOW_NAME = 0x400;
234 const int ER_GEO_ATTRIBUTES_SHOW_MESH = 0x1000;
235 const int ER_GEO_ATTRIBUTES_SHOW_EDGES = 0x2000;
237 const int ER_GEO_ATTRIBUTES_CHK_COLLISION = 0x10000;
242 
248 typedef struct {
250  char *FileName;
251  char *GeoName;
252  long RGBColor;
253  double *Scaling;
255  long ax_idx;
256  long GeoType;
262 } LOAD_GEOMETRY_DATA; // HostLoadGeometry LoadGeometryProc
263 
264 const long ER_LICENSE_PRIORITY_UNDEF = 0x0;
265 const long ER_LICENSE_PRIORITY_LMNGR = 0x1;
266 const long ER_LICENSE_PRIORITY_LOCAL = 0x2;
268 
269 const long ER_LOG_TYPE_CONSOLE = -1;
270 const long ER_LOG_TYPE_MSG = 0;
271 const long ER_LOG_TYPE_WARNING = 1;
272 const long ER_LOG_TYPE_ERROR = 2;
273 const long ER_LOG_TYPE_STATUS = 3;
274 
275 const long ER_NOTIFY_TYPE_MSG = 0;
276 const long ER_NOTIFY_TYPE_WARNING = 1;
277 const long ER_NOTIFY_TYPE_ERROR = 2;
279 
280 const long ER_NOTIFY_DOMAIN_OK = 0;
281 const long ER_NOTIFY_DOMAIN_GLOBAL = 1;
282 const long ER_NOTIFY_DOMAIN_FILE_IO = 2;
286 
287 const long ER_NOTIFY_CODE_OK = 0;
288 
290 const long ER_NOTIFY_CODE_WARN_UNREACH = 202;
294 const long ER_NOTIFY_CODE_WARN_ERROR = 206;
296 
305 
315 
320 typedef struct {
325  char Msg[ER_MAXSTR];
326 } TErNotifyData; // HostNotify NotifyProc
327 typedef void* TErExtraData;
328 
330 const long ER_GRPSYNC_SET_DURATION = 1;
334 
339 typedef struct {
340  long SyncType;
342  double value;
343 } TErGrpSyncData; // HostGrpSync GrpSyncProc
344 
345 // erConnect* NEW_050402 CONNECT_SYNC_UNDEF, ....
346 const long ER_SYNC_UNDEF =0x0;
347 const long ER_SYNC_OFF =0x1;
348 const long ER_SYNC_ON =0x2;
349 const long ER_SYNC_CONVEYOR =0x4;
350 const long ER_SYNC_VR_OFF =0x8;
352 
353 const long ER_RRRRRR_ID =1;
354 const long ER_TTTRRR_ID =2;
355 const long ER_RRRRRR_BL_ID =3;
356 const long ER_UNIV_ROB_ID =10;
357 const long ER_DH_ID =11;
358 
363 typedef struct {
365  double JointPos[ER_KIN_DOFS];
366  char Configuration[ER_MAXSTR];
368 
369 const long ER_TARGET_TYPE_ABS = 0;
370 const long ER_TARGET_TYPE_ABSJOINT = 9;
371 
377 
378 const long ER_MOTION_FILTER_GEO = 0;
379 const long ER_MOTION_FILTER_C2 = 1;
380 
381 const long ER_JOINT = 1;
382 const long ER_PTP = ER_JOINT;
383 const long ER_LIN = 2;
384 const long ER_SLEW = 3;
385 const long ER_CIRC = 4;
386 
393 
394 const long ER_AUTOACCEL_MODE_OFF =0x0;
395 const long ER_AUTOACCEL_MODE_POS =0x1;
396 const long ER_AUTOACCEL_MODE_ORI =0x2;
397 const long ER_AUTOACCEL_MODE_AX =0x4;
400 
405 
411 
416 typedef struct _ER_EXTAX_KIN_DATA {
418  long axis_idx;
419  double axis_value;
420  double speed_value;
422 
423 const long ER_EXTAX_KIN_DATA_MAX = 12;
424 
430 typedef struct _NEXT_TARGET_DATA {
432  long TargetParam;
437  double TrajectoryTime;
439  double LeadWaitTime;
440  double LagWaitTime;
446 
447 const long ER_FLYBY_OFF = 0;
448 const long ER_FLYBY_ON = 1;
449 
450 const long ER_FLYBY_TYPE_UNDEF = 0;
451 const long ER_FLYBY_TYPE_SPEED = 1;
452 const long ER_FLYBY_TYPE_DISTANCE = 2;
453 
462  long MotionType;
463  long target_type;
464  double speed_value;
467  double segment_length;
468  long flyby_type;
469  double flyby_value;
476 
477 const long TRK_WND_NOT_ACTIVE = 0;
478 const long TRK_WND_WAITING = 1;
479 const long TRK_WND_INSIDE = 2;
480 const long TRK_WND_OUT_OF_BOUNDARY = 3;
481 
486 typedef struct _NEXT_STEP_DATA {
490  double ElapsedTime;
491  long JointLimit;
494  double TrajectoryTime;
499 
500 const long ER_CSTEP_STATUS_UNDEF =0x0;
501 const long ER_CSTEP_STATUS_ERROR =0x1;
502 const long ER_CSTEP_STATUS_OK =0x2;
503 const long ER_CSTEP_STATUS_VIA_POINT =0x4;
507 const long ER_CSTEP_STATUS_INV_WARNING =0x40;
508 
513 typedef struct _CURRENT_STEP_DATA {
516  long step_number;
519  long n_dof;
529  long MotionType;
530  long ExternalTcp;
531 
532  double SpeedReduce;
533  double OverrideSpeed;
537 
539  double TrajectoryTime;
543 
544  double PathLength;
547 
548  double Distance;
549  double DistanceMoving;
552 
553 // ERK_CAPI_TOOLPATH
554 const int ER_MOP_GNTPS_CNTRL_UNDEF = 0x0;
555 const int ER_MOP_GNTPS_CNTRL_INIT = 0x1;
558 const int ER_MOP_GNTPS_CNTRL_TBD_08 = 0x8;
559 
561 
562 const int ER_MOP_GNTPS_CNTRL_LOG_FILE = 0x100;
563 const int ER_MOP_GNTPS_CNTRL_PRG_FILE = 0x200;
566 
567 const int ER_MOP_GNT_ERROR = -1; // Get Next Target, Error
568 const int ER_MOP_GNT_OK_SUCCESS = 0; // Get Next Target, OK, next target available and valid
569 const int ER_MOP_GNT_NO_TARGETS = -2; // Get Next Target,
570 
571 const int ER_MOP_SNT_ERROR = -1; // Set Next Target, Error
572 const int ER_MOP_SNT_OK_SUCCESS = 0; // Set Next Target, OK, next target prepared successful
573 const int ER_MOP_SNT_NEED_MORE_DATA = 1; // Set Next Target, Need more data to prepare next motion
574 
575 const int ER_MOP_GNS_ERROR = -1; // Get Next Step, Error
576 const int ER_MOP_GNS_OK_SUCCESS = 0; // Get Next Step, OK, next step is calculated successful
577 const int ER_MOP_GNS_NEED_MORE_DATA = 1; // Get Next Step, Final step, target reached
578 const int ER_MOP_GNS_TARGET_REACHED = 2; // Get Next Step, Need more data, nothing to do
579 const int ER_MOP_GNS_TOOLPATH_REACHED = 3; // Get Next Step, Final step, last toolpath target reached
580 
581 // Deklaration of Callback functions
582 // TerLogProc
583 // TerLoadGeometryProc
584 // TerUpdateGeometryProc
585 // TerFreeGeometryProc
586 // TerGetActualTravelRangesProc
587 // TerNotifyProc
588 // TerGrpSyncProc
589 //
595 typedef void (ER_STDCALL* TerLogProc)(long LogType, char *LogMessage);
596 
602 typedef TErGeoHandle (ER_STDCALL* TerLoadGeometryProc)(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data);
603 
611 typedef long (ER_STDCALL* TerUpdateGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle, DFRAME *KinMat);
612 
620 typedef long (ER_STDCALL* TerFreeGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle);
621 
631 typedef long (ER_STDCALL* TerGetActualTravelRangesProc)(ER_HND ErHandle, Host_HND HostHandle, double *Joints, double *TravelRangeMin, double *TravelRangeMax);
632 
641 typedef long (ER_STDCALL* TerNotifyProc)(ER_HND ErHandle,Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData);
642 
650 typedef long (ER_STDCALL* TerGrpSyncProc)(ER_HND ErHandle,Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData);
651 
652 const long JNT_TYPE_ROT =0;
653 const long JNT_TYPE_TRANS =1;
654 
655 const long JNT_DIRECTION_X = 1;
656 const long JNT_DIRECTION_Y = 2;
657 const long JNT_DIRECTION_Z = 3;
658 
659 const long JNT_CHAIN_TYPE_CHAIN = 1;
660 const long JNT_CHAIN_TYPE_NO_CHAIN = 2;
662 
663 const long IPO_MODE_BASE =0;
664 const long IPO_MODE_TOOL =1;
665 
666 // Return code for inverse kinematics, INV_WARN_*
667 const int INV_WARN_ERROR =-1;
668 const int INV_WARN_OK =0;
669 const int INV_WARN_SINGULAR =1;
670 const int INV_WARN_UNREACH =2;
671 const int INV_WARN_CNFG =3;
672 const int INV_WARN_NO_INVKIN =4;
673 const int INV_WARN_SWE_EXCEED =5;
674 
675 // Return code erGetBackLink() obsolete -> use erGetBacklink(...)
676 const long KIN_BACK_LINK_NO =0;
677 const long KIN_BACK_LINK_YES =1;
678 const long KIN_BACK_LINK_UNKNOWN =2;
679 
680 const long KIN_A2A3_COUPLING_NO =0;
681 const long KIN_A2A3_COUPLING_YES =1;
683 
684 const long KIN_COUNTER_WEIGHT_NO =0;
685 const long KIN_COUNTER_WEIGHT_YES =1;
687 
688 const long ER_ONOFF_DISABLE = 0;
689 const long ER_ONOFF_ENABLE = 1;
690 const long ER_ONOFF_STATUS = 2;
691 
692 // rotation Indices ER_ROT_
693 const long ER_ROT_IDENT = 0;
694 const long ER_ROT_X = 1;
695 const long ER_ROT_Y = 2;
696 const long ER_ROT_Z = 3;
697 
698 const long ER_ROT_XYZ = 1;
699 const long ER_ROT_ZYX = 2;
700 const long ER_ROT_YXZ = 3;
701 const long ER_ROT_ZYZ = 4;
702 const long ER_ROT_XYX = 5;
703 const long ER_ROT_RPY = 6;
704 const long ER_ROT_QUAT = 7;
705 const long ER_ROT_CA = 8;
706 const long ER_ROT_ZYpZ = 9;
707 const long ER_ROT_Y9XZ = 10;
708 const long ER_ROT_Z9XY = 11;
709 const long ER_ROT_Z9XZ = 12;
710 const long ER_ROT_Z9YX = 13;
711 const long ER_ROT_IJK = 14;
712 const long ER_ROT_ANGLE_1 = 15;
713 
714 // ERK_CAPI_SIM_COLLISION
715 const long ER_COLL_QUERY_TYPE_UNDEF = 0;
719 
720 const int ER_COLL_ALL_CONTACTS = 1;
721 const int ER_COLL_FIRST_CONTACT = 2;
722 
723 const int ER_COLL_OK = 0;
729 const int ER_COLL_ERROR = 1;
730 const int ER_COLL_HND_INVALID = 2;
731 const int ER_COLL_DETECTED = 3;
732 
737 {
738  int id1;
739  int id2;
740 };
745 {
749  long num_pairs;
751 };
752 
760 {
763  double rel_err;
764  double abs_err;
765  double distance;
766  double *p1;
767  double *p2;
768 };
769 
774 {
778  double tolerance;
779  double distance;
780  double *p1;
781  double *p2;
782 };
783 
784 //-------------------------------------------------------------------------------------------
785 // class ERK_CAPI_AUTOPATH
786 //-------------------------------------------------------------------------------------------
787 
788 const double AUTOPATH_SDK_KIN_EPSI = 0.5e-6;
789 const int AUTOPATH_SDK_KIN_DOFS = 24;
790 
791 const int AUTOPATH_SDK_AXIS_BIT_ALL = 0x0;
792 const int AUTOPATH_SDK_AXIS_BIT_1 = 0x1;
793 const int AUTOPATH_SDK_AXIS_BIT_2 = 0x2;
794 const int AUTOPATH_SDK_AXIS_BIT_3 = 0x4;
795 const int AUTOPATH_SDK_AXIS_BIT_4 = 0x8;
796 const int AUTOPATH_SDK_AXIS_BIT_5 = 0x10;
797 const int AUTOPATH_SDK_AXIS_BIT_6 = 0x20;
798 const int AUTOPATH_SDK_AXIS_BIT_7 = 0x40;
799 const int AUTOPATH_SDK_AXIS_BIT_8 = 0x80;
800 const int AUTOPATH_SDK_AXIS_BIT_9 = 0x100;
801 const int AUTOPATH_SDK_AXIS_BIT_10 = 0x200;
802 const int AUTOPATH_SDK_AXIS_BIT_11 = 0x400;
803 const int AUTOPATH_SDK_AXIS_BIT_12 = 0x800;
804 const int AUTOPATH_SDK_AXIS_BIT_13 = 0x1000;
805 const int AUTOPATH_SDK_AXIS_BIT_14 = 0x2000;
806 const int AUTOPATH_SDK_AXIS_BIT_15 = 0x4000;
807 const int AUTOPATH_SDK_AXIS_BIT_16 = 0x8000;
808 const int AUTOPATH_SDK_AXIS_BIT_17 = 0x10000;
809 const int AUTOPATH_SDK_AXIS_BIT_18 = 0x20000;
810 const int AUTOPATH_SDK_AXIS_BIT_19 = 0x40000;
811 const int AUTOPATH_SDK_AXIS_BIT_20 = 0x80000;
812 const int AUTOPATH_SDK_AXIS_BIT_21 = 0x100000;
813 const int AUTOPATH_SDK_AXIS_BIT_22 = 0x200000;
814 const int AUTOPATH_SDK_AXIS_BIT_23 = 0x400000;
815 const int AUTOPATH_SDK_AXIS_BIT_24 = 0x800000;
816 const int AUTOPATH_SDK_AXIS_BIT_DOF6 = 0x3F;
817 
818 const int AUTOPATH_SDK_OK = 0;
819 const int AUTOPATH_SDK_ERROR = 1;
821 
831 
835 
841 
844 const int AUTOPATH_SDK_RESULT_CPS = 3;
852 
856 
870 
871 const int AUTOPATH_SDK_STATUS_MP_START = 0x1000;
872 const int AUTOPATH_SDK_STATUS_MP_ABORT = 0x2000;
873 const int AUTOPATH_SDK_STATUS_MP_SUCCESS = 0x4000;
874 const int AUTOPATH_SDK_STATUS_MP_FAILURE = 0x8000;
875 const int AUTOPATH_SDK_STATUS_MP_IDLE = 0x10000;
876 const int AUTOPATH_SDK_STATUS_MP_RUNNING = 0x20000;
879 
880 //---------------------------------------------------------------
881 
882 typedef double ER_REAL_TYPE;
883 
884 const int AUTOPATH_SDK_AXIS_ROT = 0;
885 const int AUTOPATH_SDK_AXIS_TRANS = 1;
886 
888 {
889  unsigned int size;
890  int apHandle;
892 
893  int nConfig;
894  INT_PTR* deviceHandle;
896  int* AxisEnable;
899  int* AxisType;
906  UINT Accuracy;
908 
909 #endif
910 
911 
ER_REAL_TYPE * ConstraintMin
minimum constraint value, size nConfig
Definition: erk_capi_types.h:900
unsigned int * ER_HND
unique Kinematics handle, created with erInitKin()
Definition: erk_capi_types.h:187
const long ER_GRPSYNC_SET_OV_SPEED_RED
MoveSync, set current ov resulted from speed reduction.
Definition: erk_capi_types.h:333
const int ER_COLL_DETECTED
Result if Collision detected erColl_ChkCollision()
Definition: erk_capi_types.h:731
const long ER_COLL_QUERY_TYPE_COLLIDE
detects collision between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:716
const long ER_NOTIFY_CODE_WARN_SWE_EXCEED
Code notify warning, location ok but travel ranges are exceeded.
Definition: erk_capi_types.h:293
const long ER_FLYBY_TYPE_DISTANCE
Flyby by distance [mm].
Definition: erk_capi_types.h:452
const long ER_ONOFF_DISABLE
disable flag
Definition: erk_capi_types.h:688
const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE
Code notify error -68, Cannot calculate next step.
Definition: erk_capi_types.h:309
long ExternalTcp
IPO_MODE_BASE - enabled, IPO_MODE_TOOL - disabled
Definition: erk_capi_types.h:530
DFRAME CartPosVia
Target cartesian via position for cartesian motion ER_CIRC.
Definition: erk_capi_types.h:473
const long ER_GEO_TYPE_WEDGE
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.
Definition: erk_capi_types.h:212
Homogeneous 4x4 transformation matrix, a Frame with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 pos...
Definition: erk_capi_types.h:81
const int ER_MOP_GNT_OK_SUCCESS
Definition: erk_capi_types.h:568
const long ER_ROT_ZYpZ
Rotation Index: RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, Euler, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:706
const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT
Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees)
Definition: erk_capi_types.h:833
const long ER_ROT_X
Rotation Index: Rotation about x axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:694
const long ER_MAXSTR
Maximum length of a short message.
Definition: erk_capi_types.h:96
const long ER_GRPSYNC_GET_SYNC_DISCRETE
ProcSync, aks status for SyncIDDiscrete.
Definition: erk_capi_types.h:329
unsigned int * ER_TARGET_MOVE_CP_HND
unique Target data for CP Move handle
Definition: erk_capi_types.h:201
const double ER_DEG
Conversion from radiant to degree.
Definition: erk_capi_types.h:102
ER_REAL_TYPE * ConstraintMax
maximum constraint value, size nConfig
Definition: erk_capi_types.h:901
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:781
const long ER_GEO_TYPE_PYRAMID
Geometry Type PYRAMID, number of parameter = 5: X-length [m], Y-length [m], Height [m]...
Definition: erk_capi_types.h:211
const int AUTOPATH_SDK_CHK_CONSTRAINT_START
action parameter is StartPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:858
ER_REAL_TYPE * DistanceWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:905
ER_CollisionPair * pairs
array of collided triangle pairs if num_pairs > 0
Definition: erk_capi_types.h:750
const long ER_OUPUT_FORMAT_W_ORIENTATION
desired output_format for erGET_NEXT_STEP is Cartesian ( w/orientation )
Definition: erk_capi_types.h:374
const int ER_COLL_OK
Used by all API routines upon successful completion except.
Definition: erk_capi_types.h:723
const long JNT_TYPE_TRANS
Robot Joint is prismatic.
Definition: erk_capi_types.h:653
const int ER_COLL_ERR_BUILD_EMPTY_MODEL
Returned when erColl_EndModel() is called on a model to which no triangles have been added...
Definition: erk_capi_types.h:728
const long IPO_MODE_BASE
Interpolation mode is w.r.t. BASE (work object)
Definition: erk_capi_types.h:663
const long ER_NOTIFY_DOMAIN_MOTION_EXEC
Domain notify level: MOTION_EXEC 401-500 Get_Next_Step.
Definition: erk_capi_types.h:285
const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST
desired output_format for erGET_NEXT_STEP is Joint angle/distance
Definition: erk_capi_types.h:373
long(ER_STDCALL * TerUpdateGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle, DFRAME *KinMat)
Callback function type definition to update a geometry, erSetCallBack_UpdateGeometryProc() ...
Definition: erk_capi_types.h:611
ER_EXTAX_KIN_DATA extax_data[ER_EXTAX_KIN_DATA_MAX]
external axis data
Definition: erk_capi_types.h:438
const int INV_WARN_OK
inverse kinematics calculation successful "OK", target location is reachable
Definition: erk_capi_types.h:668
const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED
Code notify, error -17, specified motion type is not supported.
Definition: erk_capi_types.h:301
double speed_ori_value
Speed for the orientation during cartesian motion [rad/sec].
Definition: erk_capi_types.h:465
const int AUTOPATH_SDK_AXIS_BIT_DOF6
axisBit Axis 1..6
Definition: erk_capi_types.h:816
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:762
const long IPO_MODE_TOOL
Interpolation mode is w.r.t. external TCP.
Definition: erk_capi_types.h:664
#define ER_STDCALL
Definition: erk_capi_types.h:72
const long KIN_A2A3_COUPLING_UNKNOWN
Robot has no informaton about axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:682
long SyncOvSpeedReduceDiscrete
Synchronized Override Discrete 0 - stopp motion , 1 - continue motion.
Definition: erk_capi_types.h:534
const int ER_GEO_ATTRIBUTES_BBWIRE
GeoAttributes render bbox wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:226
const int AUTOPATH_SDK_AXIS_BIT_23
axisBit Axis 23
Definition: erk_capi_types.h:814
const long ER_ROT_QUAT
Rotation Index: Quaternion, ABB, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:704
const long ER_CSTEP_STATUS_UNDEF
current step status is not defined, erGetCurrentStepData()
Definition: erk_capi_types.h:500
Definition: erk_capi_types.h:430
const long ER_NOTIFY_CODE_WARN_NO_INVKIN
Code notify error, device has no inverse kinematics.
Definition: erk_capi_types.h:292
double SyncOvSpeedReduceContinuous
Synchronized Override resulted from automated Speed Reduction Continuous [0..1].
Definition: erk_capi_types.h:535
int * AxisEnable
1-enabled, 0-disabled, size nConfig
Definition: erk_capi_types.h:896
const int ER_MOP_GNS_TOOLPATH_REACHED
Definition: erk_capi_types.h:579
const int AUTOPATH_SDK_AXIS_BIT_17
axisBit Axis 17
Definition: erk_capi_types.h:808
const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID
Code notify error, invalid configuration.
Definition: erk_capi_types.h:291
const long ER_KIN_PASSIVE_JNTS
Maximum number of passive joints for a kinematics.
Definition: erk_capi_types.h:90
const int ER_MOP_GNS_OK_SUCCESS
Definition: erk_capi_types.h:576
const long ER_TARGET_TYPE_ABSJOINT
Target single axis motion,if motion_type = JOINT –> AbsJoint.
Definition: erk_capi_types.h:370
const int ER_MOP_GNS_ERROR
Definition: erk_capi_types.h:575
void(ER_STDCALL * TerLogProc)(long LogType, char *LogMessage)
Callback function type definition for Log messages, erSetCallBack_LogProc()
Definition: erk_capi_types.h:595
long num_pairs
number of collided triangle pairs
Definition: erk_capi_types.h:749
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200
action parameter is tbd
Definition: erk_capi_types.h:867
const int ER_MOP_GNT_NO_TARGETS
Definition: erk_capi_types.h:569
const int AUTOPATH_SDK_STATUS_MP_ABORT
AutoPath calculation aborted.
Definition: erk_capi_types.h:872
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:761
const int AUTOPATH_SDK_AXIS_BIT_ALL
axisBit Axis all
Definition: erk_capi_types.h:791
const int AUTOPATH_SDK_ALGORITHM_USER_FCT
Path Planner Algorithm: 1-User Fct.
Definition: erk_capi_types.h:832
const long ER_DOMINANT_INTERPOLATION_POS
1-dominant interpolation type, Position is master, erSELECT_DOMINANT_INTERPOLATION() ...
Definition: erk_capi_types.h:401
const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
action parameter chk constraint for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:866
const long ER_ROT_IJK
Rotation Index: Approach Axis Vector, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:711
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:780
const int AUTOPATH_SDK_INVALID_LICENSE
Error, AutoPath not licensed.
Definition: erk_capi_types.h:820
const long ER_TARGET_TYPE_ABS
Target w.r.t object frame.
Definition: erk_capi_types.h:369
const int ER_MOP_GNTPS_CNTRL_LOG_FILE
Get Next Tool Path Step, creates log file, use with ER_MOP_GNTPS_CNTRL_INIT.
Definition: erk_capi_types.h:562
const long ER_PTP_TARGET_CALC_MODE_TURNS
PTP solution calculated using turns, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:389
const long ER_ROT_IDENT
Rotation Index: Identity, erMath_Frame_Rot()
Definition: erk_capi_types.h:693
const long ER_TTTRRR_ID
Device modelled as 6 DOF Gantry TTT:RRR type.
Definition: erk_capi_types.h:354
long target_type
Target Type ER_TARGET_TYPE_ABS or ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:463
const long ER_NOTIFY_CODE_IPO_EXEC_POS_OUT_OF_RANGE
Code notify error -52, cartesian position is out of work range.
Definition: erk_capi_types.h:311
const int AUTOPATH_SDK_AXIS_BIT_20
axisBit Axis 20
Definition: erk_capi_types.h:811
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()
Definition: erk_capi_types.h:620
Collision results for query ER_COLL_QUERY_TYPE_TOLERANCE, see erColl_GetResults_Tolerance() ...
Definition: erk_capi_types.h:773
double bending_angle_value
Bending angle [rad].
Definition: erk_capi_types.h:470
const double ER_RAD
Conversion from degree to radiant.
Definition: erk_capi_types.h:103
ER_REAL_TYPE * CartConstraintMax
maximum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:903
const int AUTOPATH_SDK_AXIS_ROT
Axis is rotational.
Definition: erk_capi_types.h:884
const long ER_LICENSE_PRIORITY_LOCAL
check local license first
Definition: erk_capi_types.h:266
long axis_idx
axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
Definition: erk_capi_types.h:418
long ptp_target_calculation_mode
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.
Definition: erk_capi_types.h:443
const int AUTOPATH_SDK_OK
AutoPath method successful.
Definition: erk_capi_types.h:818
const int ER_MOP_GNTPS_CNTRL_UNDEF
Get Next Tool Path Step, undefined request.
Definition: erk_capi_types.h:554
double JointPos[ER_KIN_DOFS]
current joint position [rad,mm]
Definition: erk_capi_types.h:520
const long ER_NOTIFY_TYPE_INTERNAL_ERROR
Notify Type Level: Initial ERROR 3.
Definition: erk_capi_types.h:278
const long ER_NOTIFY_DOMAIN_FILE_IO
Domain notify level: FILE_IO 101-200.
Definition: erk_capi_types.h:282
const long ER_DOMINANT_INTERPOLATION_ORI
2-dominant interpolation type, Orientation is master, erSELECT_DOMINANT_INTERPOLATION() ...
Definition: erk_capi_types.h:402
const long ER_ROT_ANGLE_1
Rotation Index: One Axis Angle Rotation, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:712
TErTargetID TargetID
Target ID where the notification occured, Default 0.
Definition: erk_capi_types.h:324
const long ER_SLEW
Motion Type SLEW, Async PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:384
unsigned int * ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
unique External axis data definition for Positioner/TurnTable handle
Definition: erk_capi_types.h:204
long n_dof
number of manipulator joints
Definition: erk_capi_types.h:519
int * deviceAxisIdx
Device Index of Axis, size nConfig.
Definition: erk_capi_types.h:895
const long ER_FLYBY_OFF
Flyby OFF, disabled.
Definition: erk_capi_types.h:447
const int ER_MOP_GNTPS_CNTRL_STEPDATA_OUT
Get Next Tool Path Step, writes current StepData into dat stream, use with ER_MOP_GNTPS_CNTRL_NEXT_ST...
Definition: erk_capi_types.h:565
const int AUTOPATH_SDK_AXIS_BIT_16
axisBit Axis 16
Definition: erk_capi_types.h:807
const long ER_DMAXSTR
Maximum length of a medium message.
Definition: erk_capi_types.h:97
const long ER_RRRRRR_BL_ID
Device modelled as fixed articulated RRR:RRR type with back link, such as an ABB IRB-1400.
Definition: erk_capi_types.h:355
const long ER_DH_ID
Device modelled with DH Denavit-Hartenberg-Transformation.
Definition: erk_capi_types.h:357
long SyncType
0-ER_GRPSYNC_GET_SYNC_DISCRETE 1-ER_GRPSYNC_SET_DURATION 2-ER_GRPSYNC_GET_DURATION_MAX 3-ER_GRPSYNC_G...
Definition: erk_capi_types.h:340
const long ER_NOTIFY_CODE_WARN_ERROR
Code notify error, ERROR.
Definition: erk_capi_types.h:294
const long ER_NOTIFY_CODE_IPO_PREP_INVALID_CHANGE_OF_TRACKING_BASE
Code notify, error -76 , Direkter Wechsel von einem Tracking Base zum anderem nicht mglich...
Definition: erk_capi_types.h:304
const long JNT_CHAIN_TYPE_CHAIN
Robot Joint is in the kinematics chain.
Definition: erk_capi_types.h:659
double LagWaitTime
Lag time, after robot reaches its target.
Definition: erk_capi_types.h:440
const long ER_NOTIFY_CODE_IPO_PREP_ERROR
Code notify, praparation failed,internal error -68.
Definition: erk_capi_types.h:299
const long TRK_WND_OUT_OF_BOUNDARY
Robot outside tracking window boundary = 3;.
Definition: erk_capi_types.h:480
double SyncOvTrajScale
Synchronized Override resulted from Trajectory scaling [0..1].
Definition: erk_capi_types.h:536
const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW
current step status Wait for Tracking Window
Definition: erk_capi_types.h:504
long TrackingWindowStatus
tracking window status, TRK_WND_NOT_ACTIVE, TRK_WND_WAITING, TRK_WND_INSIDE, TRK_WND_OUT_OF_BOUNDARY ...
Definition: erk_capi_types.h:497
double TrajectoryTime
Output: Calculated trajectory time in [sec].
Definition: erk_capi_types.h:437
const int ER_COLL_HND_INVALID
Error, invalid collision handle.
Definition: erk_capi_types.h:730
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80
action parameter is tbd
Definition: erk_capi_types.h:865
const long ER_GEO_TYPE_CYLINDER
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.
Definition: erk_capi_types.h:213
double TrajectoryTimeRemaining
current remaining time for the returned step, if 0, target reached
Definition: erk_capi_types.h:541
struct _ER_EXTAX_KIN_DATA ER_EXTAX_KIN_DATA
TErTargetID TargetID
Identifier of the target, 0 no identifier givin, >0 identifier of this target.
Definition: erk_capi_types.h:431
const int AUTOPATH_SDK_AXIS_BIT_8
axisBit Axis 8
Definition: erk_capi_types.h:799
const int INV_WARN_NO_INVKIN
ERROR kinematics has no inverse kinematics defned.
Definition: erk_capi_types.h:672
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:779
const long ER_NOTIFY_CODE_IPO_PREP_INVALID_IPO_WHILE_TRACKING
Code notify, error -76, PTP/ABS-Joint Interpolation in einer koordinierten Bewegung (Tracking) nicht ...
Definition: erk_capi_types.h:303
const long ER_UNIV_ROB_ID
Device modelled with universal coordinates.
Definition: erk_capi_types.h:356
const long ER_ROT_Y9XZ
Rotation Index: RotY*RotX*RotZ,b+m T1 xx7xx, [-90..+90] [-180..+180] [-180..+180] (~BOSCH)...
Definition: erk_capi_types.h:707
const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
Enables Thread Execution: 1-on, 0-off.
Definition: erk_capi_types.h:829
const int AUTOPATH_SDK_AXIS_BIT_13
axisBit Axis 13
Definition: erk_capi_types.h:804
const int ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO
GeoAttributes geometry object memory model 1-OBJ_MEM_VBO, 0-OBJ_MEM_GRAHICS or OBJ_MEM_NATIVE_CPU, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:238
const int AUTOPATH_SDK_ALGORITHM_RTD_BBS
Path Planner Algorithm: 3-RTD BBS.
Definition: erk_capi_types.h:834
unsigned int * ER_TARGET_LOCATION_HND
unique Target location handle, created with erAddTargetLocation()
Definition: erk_capi_types.h:195
double JointPos[ER_KIN_DOFS]
Target joint position.
Definition: erk_capi_types.h:434
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV
Quality Index Standard Deviation, based on calculated way points.
Definition: erk_capi_types.h:851
const int ER_MOP_GNT_ERROR
Definition: erk_capi_types.h:567
double segment_length
Segment length to Target location [m].
Definition: erk_capi_types.h:467
const long KIN_COUNTER_WEIGHT_YES
Robot has a counter weight.
Definition: erk_capi_types.h:685
int ThreadedExecution
1-Thread, 0-no Thread, direct function call
Definition: erk_capi_types.h:891
const long ER_GEO_TYPE_3DS
Geometry Type 3DS file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:218
const long ER_DOF9
9 Degrees-of-Freedom
Definition: erk_capi_types.h:93
const long ER_OUPUT_FORMAT_JOINT_ENCODER
desired output_format for erGET_NEXT_STEP is Joint encoder
Definition: erk_capi_types.h:372
const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
Limit revolute joints in C-Space: 1-on, 0-off.
Definition: erk_capi_types.h:827
const long ER_OUPUT_FORMAT_CART_JOINT_ENCODER
desired output_format for erGET_NEXT_STEP is Cartesian and joint encoder
Definition: erk_capi_types.h:375
const int AUTOPATH_SDK_RESULT_CFREE
Number of CFree Checks during AutoPath calculation.
Definition: erk_capi_types.h:845
const long ER_PTP_TARGET_CALC_MODE_MATH
PTP solution calculated mathematical [-180, 180], NEXT_TARGET_DATA.
Definition: erk_capi_types.h:390
const long ER_PTP
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:382
const long ER_SYNC_OFF_TRACKING_WINDOWS_ON
device synchronization OFF while Tracking Window active, tbd
Definition: erk_capi_types.h:351
const long ER_JOINT
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:381
DFRAME * GeoMat
location of geometry w.r.t. to belonging axis ax_idx
Definition: erk_capi_types.h:254
const long ER_HS_MAXSTR
Maximum length of a huge message.
Definition: erk_capi_types.h:99
const long KIN_BACK_LINK_UNKNOWN
Robot has no informaton about Backlink.
Definition: erk_capi_types.h:678
const int ER_COLL_ERROR
Error, kernel not initialized or option not licensed.
Definition: erk_capi_types.h:729
const long ER_GRPSYNC_GET_DURATION_MAX
MoveSync, get max duration of motion times of all robots in KIR group.
Definition: erk_capi_types.h:331
double TrajectoryTime_nominal
nominal calculated trajectory time in [sec]
Definition: erk_capi_types.h:538
const long ER_ROT_YXZ
Rotation Index: RotY*RotX*RotZ, BOSCH, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:700
long GeoType
Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE, ER_GEO_TYPE_CYLINDER, ER_GEO_TYPE_CONE, ER_GEO_TYPE_SPHERE, ER_GEO_TYPE_IGP, ER_GEO_TYPE_STL, ER_GEO_TYPE_3DS.
Definition: erk_capi_types.h:256
const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
Force deterministic behavior: 1-on, 0-off.
Definition: erk_capi_types.h:826
long turn_value[ER_KIN_DOFS]
Target turn values if ER_PTP_TARGET_CALC_MODE_TURNS is enabled.
Definition: erk_capi_types.h:444
const int ER_MOP_GNTPS_CNTRL_INIT
Get Next Tool Path Step, Initialize ToolPath interpolation.
Definition: erk_capi_types.h:555
double OverrideSpeed
Programmed Speed Override [0..100%].
Definition: erk_capi_types.h:533
const int ER_APIDLL_CNTRL_SIM_STEP
Calling status for API-DLL, Cycle indicates one simulation step or simulation cycle within a simulati...
Definition: erk_capi_types.h:111
const int ER_MOP_GNTPS_CNTRL_PRG_FILE
Get Next Tool Path Step, creates prg file, use with ER_MOP_GNTPS_CNTRL_INIT.
Definition: erk_capi_types.h:563
struct _AutoPath_ConfigurationSpace AutoPath_ConfigurationSpace
const long ER_NOTIFY_DOMAIN_OK
Domain notify level: OK 0.
Definition: erk_capi_types.h:280
const int AUTOPATH_SDK_KIN_DOFS
Maximum number of configuration space (Degrees-of-Freedom for a kinematics)
Definition: erk_capi_types.h:789
const int AUTOPATH_SDK_STATUS_MP_RUNNING
AutoPath in process.
Definition: erk_capi_types.h:876
int * AxisType
one of AUTOPATH_SDK_AXIS_TYPE_ROBOT, AUTOPATH_SDK_AXIS_TYPE_TRACK, AUTOPATH_SDK_AXIS_TYPE_POSITIONER...
Definition: erk_capi_types.h:899
const int AUTOPATH_SDK_AXIS_BIT_14
axisBit Axis 14
Definition: erk_capi_types.h:805
double ER_REAL_TYPE
Definition: erk_capi_types.h:882
int id1
identifier triangles 1st object
Definition: erk_capi_types.h:738
const long ER_NOTIFY_DOMAIN_MOTION_PREP
Domain notify level: MOTION_PREP 301-400 Set_Next_Target.
Definition: erk_capi_types.h:284
double * Scaling
xyz scaling of loaded geometry and depending on GeoType
Definition: erk_capi_types.h:253
const long ER_NOTIFY_CODE_IPO_PREP_CONFIG
Code notify, warning Cannot change configuration during LIN or CIRC move.
Definition: erk_capi_types.h:300
const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER
Axis Type External Positioner axis.
Definition: erk_capi_types.h:838
const long JNT_DIRECTION_X
Robot Joint is in X direction.
Definition: erk_capi_types.h:655
const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS
AutoPath minimize number of WayPoint.
Definition: erk_capi_types.h:877
const long ER_ROT_XYX
Rotation Index: RotX*RotY*RotX, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:702
const long ER_SYNC_ON
device synchronization ON
Definition: erk_capi_types.h:348
const int ER_GEO_ATTRIBUTES_FLAT
GeoAttributes render flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:229
const int AUTOPATH_SDK_AXIS_BIT_11
axisBit Axis 11
Definition: erk_capi_types.h:802
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START
Code notify warning, Start Speed reduction.
Definition: erk_capi_types.h:306
Definition: erk_capi_types.h:513
double rel_err
the relative error margin from actual distance
Definition: erk_capi_types.h:763
Collision results for query ER_COLL_QUERY_TYPE_COLLIDE, see erColl_GetResults_Collide() ...
Definition: erk_capi_types.h:744
const int AUTOPATH_SDK_AXIS_BIT_15
axisBit Axis 15
Definition: erk_capi_types.h:806
const int INV_WARN_SINGULAR
Warning: Target location is reachable, but location is in singularity.
Definition: erk_capi_types.h:669
const int AUTOPATH_SDK_PARAMETER_ALGORITHM
Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS.
Definition: erk_capi_types.h:823
const long ER_DOMINANT_INTERPOLATION_AUTO
4-dominant interpolation type, Automatic (the slowest one is leading), erSELECT_DOMINANT_INTERPOLATIO...
Definition: erk_capi_types.h:404
char Configuration[ER_MAXSTR]
Manipulator configuration string.
Definition: erk_capi_types.h:489
const long ER_CSTEP_STATUS_OK
current step status is OK, erGetCurrentStepData()
Definition: erk_capi_types.h:502
unsigned int * ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
unique External axis data definition for Track/Slider handle
Definition: erk_capi_types.h:203
const long KIN_BACK_LINK_NO
Robot has no Backlink.
Definition: erk_capi_types.h:676
const int INV_WARN_UNREACH
inverse kinematics calculation failed, target location is unreachable
Definition: erk_capi_types.h:670
const long ER_GEO_TYPE_STL
Geometry Type STL ascii or binary file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DAT...
Definition: erk_capi_types.h:217
const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF
action parameter is undefined for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:857
const long ER_CSTEP_STATUS_ERROR
current step status is ERROR, erGetCurrentStepData()
Definition: erk_capi_types.h:501
struct _NEXT_TARGET_DATA NEXT_TARGET_DATA
const int AUTOPATH_SDK_AXIS_BIT_4
axisBit Axis 4
Definition: erk_capi_types.h:795
double TrajectoryTimeDelay
current trajectory time delay, >0 in case robot speed reductions
Definition: erk_capi_types.h:542
const int ER_GEO_ATTRIBUTES_SHOW_MESH
GeoAttributes geometry visualized meshes, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:234
long flyby_type
Flyby Type ER_FLYBY_TYPE_UNDEF = 0, ER_FLYBY_TYPE_SPEED = 1, ER_FLYBY_TYPE_DISTANCE = 2...
Definition: erk_capi_types.h:468
long get_nxt_step_result
current step status, get next step result 0-Ok, 1-need more data, 2-final step, target reached...
Definition: erk_capi_types.h:515
const int ER_GEO_ATTRIBUTES_SHOW_EDGES
GeoAttributes geometry visualized edges, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:235
const long ER_MOTION_FILTER_GEO
Motion filter set to geometric velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:378
long GeoSizeParameterNum
Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType.
Definition: erk_capi_types.h:258
const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
Thread priority: 0-normal, 1-low, 2-high.
Definition: erk_capi_types.h:828
const long ER_FLYBY_TYPE_SPEED
Flyby by speed [%].
Definition: erk_capi_types.h:451
const int ER_GEO_ATTRIBUTES_SMOOTH
GeoAttributes render smooth, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:223
const int ER_MOP_GNTPS_CNTRL_NEXT_STEP
Get Next Tool Path Step, Calculate one interpolation step.
Definition: erk_capi_types.h:557
const int ER_GEO_ATTRIBUTES_SHOW_NORMALS
GeoAttributes geometry visualized with normals, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:233
const long ER_NOTIFY_CODE_WARN_UNREACH
Code notify error, location unsrechable.
Definition: erk_capi_types.h:290
TErTrackingWindowID TrackingWindowID
unique tracking window identifier
Definition: erk_capi_types.h:496
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP
Code notify warning, Stop Speed reduction.
Definition: erk_capi_types.h:307
const long ER_NOTIFY_CODE_WARN_SINGULAR
Code notify warning, robot in singularity.
Definition: erk_capi_types.h:289
long SyncIDDiscrete
Handle for ProcSync.
Definition: erk_capi_types.h:441
int apHandle
individual handle, currently not used
Definition: erk_capi_types.h:890
long AdvanceParam
1 valid data specified, 0 no data specified, 2 initializes and set default data
Definition: erk_capi_types.h:460
const long ER_CIRC_ORI_INTERPOLATION_FIX
Keep current orientation during interpolation on a circle, hereby the orientation in start-...
Definition: erk_capi_types.h:410
const int ER_MOP_SNT_OK_SUCCESS
Definition: erk_capi_types.h:572
const double ER_m2mm
Conversion from [mm] to [m].
Definition: erk_capi_types.h:105
const long JNT_DIRECTION_Y
Robot Joint is in Y direction.
Definition: erk_capi_types.h:656
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:495
char Configuration[ER_MAXSTR]
Target manipulator configuration string.
Definition: erk_capi_types.h:435
double abs_err
the absolute error margin from actual distance
Definition: erk_capi_types.h:764
const long ER_GEO_TYPE_CUBE
Geometry Type CUBE, number of parameter = 3: X-length [m], Y-length [m], Height [m], see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:210
const int ER_APIDLL_CNTRL_SIM_STOP
Calling status for API-DLL, Stop indicates that the simulation is aborted.
Definition: erk_capi_types.h:112
const long ER_CSTEP_STATUS_IPO_IN_POSITION
current step status Robot already in Position
Definition: erk_capi_types.h:505
unsigned int * ER_TARGET_ATTRIBUTES_HND
unique Motion attributes handle
Definition: erk_capi_types.h:199
const int AUTOPATH_SDK_RESULT_DSECONDS
Elapsed time in deciseconds (1/10) for AutoPath calculation.
Definition: erk_capi_types.h:848
const long ER_PTP_TARGET_CALC_MODE_UNDEF
default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, NEXT_TARGET_DATA
Definition: erk_capi_types.h:387
const int ER_MOP_GNTPS_CNTRL_TBD_08
tbd
Definition: erk_capi_types.h:558
const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_CHILD
GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_CHILD, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:240
double TrajectoryTime
current trajectory time
Definition: erk_capi_types.h:539
const long KIN_A2A3_COUPLING_NO
Robot has no axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:680
const long ER_FLYBY_ON
Flyby ON, enabled.
Definition: erk_capi_types.h:448
DFRAME CartPos
Target cartesian position for cartesian motion or joint motion with target type ER_TARGET_TYPE_ABS.
Definition: erk_capi_types.h:472
const int AUTOPATH_SDK_AXIS_BIT_10
axisBit Axis 10
Definition: erk_capi_types.h:801
const long ER_GEO_PARAMETER_MAX
Maximum number of reserved geometry parameter, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:220
long n_dof_external
number of external manipulator joints
Definition: erk_capi_types.h:524
const int AUTOPATH_SDK_STATUS_MP_IDLE
AutoPath is idle.
Definition: erk_capi_types.h:875
int * AxisRotTrans
Rotary Axis = AUTOPATH_SDK_AXIS_ROT, Translatory Axis = AUTOPATH_SDK_AXIS_TRANS, size nConfig...
Definition: erk_capi_types.h:898
const long ER_MOTION_FILTER_C2
Motion filter set to c2-velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:379
int NotificationType
ER_NOTIFY_TYPE_MSG = 0; ER_NOTIFY_TYPE_WARNING = 1; ER_NOTIFY_TYPE_ERROR = 2; ER_NOTIFY_TYPE_INTERNAL...
Definition: erk_capi_types.h:321
double ElapsedTime
Output: Elapsed time for the returned step, if 0, no valid step is returned.
Definition: erk_capi_types.h:490
DFRAME CartPos
Cartesian position.
Definition: erk_capi_types.h:487
const long ER_EXTAX_KIN_DATA_MAX
Maximum number of external axis data.
Definition: erk_capi_types.h:423
const int AUTOPATH_SDK_AXIS_BIT_9
axisBit Axis 9
Definition: erk_capi_types.h:800
const int AUTOPATH_SDK_AXIS_TYPE_AUX
Axis Type Aux Axis.
Definition: erk_capi_types.h:840
External axis target data for connected devices belongs to structure NEXT_TARGET_DATA.
const long ER_LOG_TYPE_ERROR
error Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:272
struct _CURRENT_STEP_DATA CURRENT_STEP_DATA
unsigned int size
sizeof this structure
Definition: erk_capi_types.h:889
long GeoAttributeParameterNum
Number of geometry attribute parameter in GeoAttributeParameter.
Definition: erk_capi_types.h:260
const int AUTOPATH_SDK_AXIS_BIT_3
axisBit Axis 3
Definition: erk_capi_types.h:794
const int AUTOPATH_SDK_RESULT_CPS
Number of Check per seconds for AutoPath calculation.
Definition: erk_capi_types.h:844
const long ER_GRPSYNC_SET_DURATION
MoveSync, set duration of calculated motion time for current move.
Definition: erk_capi_types.h:330
const long ER_CIRC_ORI_INTERPOLATION_START_END
Use start- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTATION_...
Definition: erk_capi_types.h:406
char * GeoName
name of loaded geometry
Definition: erk_capi_types.h:251
long TargetParam
0 unused (only position data are valid), 1 radius, 2 angle, 3 distance
Definition: erk_capi_types.h:432
const int ER_GEO_ATTRIBUTES_BBFLAT
GeoAttributes render bbox flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:225
DFRAME CartPos
Target cartesian position.
Definition: erk_capi_types.h:433
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED
Code notify warning, maximum joint speed exceeded.
Definition: erk_capi_types.h:313
const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
Minimize number of WayPoints: 1-on, 0-off.
Definition: erk_capi_types.h:825
struct _NEXT_TARGET_DATA_ADVANCE NEXT_TARGET_DATA_ADVANCE
unsigned int TErGeoHandle
unique Geometry handle used for callback functions TerLoadGeometryProc()
Definition: erk_capi_types.h:189
const long KIN_BACK_LINK_YES
Robot has a Backlink.
Definition: erk_capi_types.h:677
const int ER_GEO_ATTRIBUTES_VERTICES
GeoAttributes render vertices, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:228
const long ER_COLL_QUERY_TYPE_DISTANCE
computes the minimum distance between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:717
long GeoAttributes
Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVE...
Definition: erk_capi_types.h:257
double TargetParamValue
= 2, for radiants
Definition: erk_capi_types.h:436
const int ER_MOP_SNT_NEED_MORE_DATA
Definition: erk_capi_types.h:573
const int ER_GEO_ATTRIBUTES_SHOW_NAME
GeoAttributes geometry visualized with name, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:232
long NumberofMessages
Specifies the number of messages, tbd.
Definition: erk_capi_types.h:493
const int ER_MOP_GNTPS_CNTRL_TERMINATE
Get Next Tool Path Step, Terminate ToolPath interpolation.
Definition: erk_capi_types.h:556
const long ER_DOF_QUAT
Quaternion vector length.
Definition: erk_capi_types.h:92
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:462
const int AUTOPATH_SDK_PARAMETER_DYNADJUST
Dynamic adjust Accuracy: 1-on, 0-off.
Definition: erk_capi_types.h:822
DFRAME CartPosRBase
current cartesian TCP position w.r.t. Robot Base
Definition: erk_capi_types.h:518
const int ER_GEO_ATTRIBUTES_CHK_COLLISION
GeoAttributes geometry in collision queue, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. ...
Definition: erk_capi_types.h:237
const int ER_MOP_GNS_NEED_MORE_DATA
Definition: erk_capi_types.h:577
const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED
Code notify error, cannot find a valid configuration.
Definition: erk_capi_types.h:295
int nConfig
complete configuration space, length of each vector, maximum size AUTOPATH_SDK_KIN_DOFS ...
Definition: erk_capi_types.h:893
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:746
const int AUTOPATH_SDK_RESULT_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:849
long JointLimit
Bitmask, specifies which axes reached a joint limit. It is zero if there are no joint limits reached...
Definition: erk_capi_types.h:491
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:747
const long ER_FLYBY_TYPE_UNDEF
Flyby is not active = 0.
Definition: erk_capi_types.h:450
const int AUTOPATH_SDK_AXIS_BIT_22
axisBit Axis 22
Definition: erk_capi_types.h:813
const int INV_WARN_CNFG
ERROR calulating inverse solution for current robot configuration.
Definition: erk_capi_types.h:671
const long ER_LOG_TYPE_MSG
simple Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:270
ER_REAL_TYPE * CartConstraintMin
minimum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:902
const long ER_CIRC_ORI_INTERPOLATION_START_VIA_END
Use start-,via- and end-location for orientation interpolation on a circle, erSELECT_CIRCULAR_ORIENTA...
Definition: erk_capi_types.h:407
const long TRK_WND_WAITING
Robot is waiting for Tracking window = 1.
Definition: erk_capi_types.h:478
DFRAME CartPos
initial robot cartesian position w.r.t robot base
Definition: erk_capi_types.h:364
const int AUTOPATH_SDK_AXIS_BIT_12
axisBit Axis 12
Definition: erk_capi_types.h:803
const int AUTOPATH_SDK_AXIS_BIT_19
axisBit Axis 19
Definition: erk_capi_types.h:810
const long ER_CIRC
Motion Type CIRC circular motion using via point, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:385
double * GeoSizeParameter
Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX...
Definition: erk_capi_types.h:259
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:765
UINT Accuracy
[1..100]
Definition: erk_capi_types.h:906
const int AUTOPATH_SDK_AXIS_TYPE_TRACK
Axis Type External Track axis.
Definition: erk_capi_types.h:837
const int ER_COLL_FIRST_CONTACT
report first intersecting tri pair found, erColl_ChkCollision()
Definition: erk_capi_types.h:721
const int AUTOPATH_SDK_STATUS_MP_START
AutoPath calculation started.
Definition: erk_capi_types.h:871
const long KIN_COUNTER_WEIGHT_UNKNOWN
Robot has no information about counter weight.
Definition: erk_capi_types.h:686
const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION
action parameter is Collision for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:860
const int ER_COLL_ERR_UNPROCESSED_MODEL
Returned when an unprocessed model is passed to a function which expects only processed models...
Definition: erk_capi_types.h:726
const int ER_GEO_ATTRIBUTES_WIRE
GeoAttributes render wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:224
void * TErExtraData
additional notification data, tbd, TerNotifyProc()
Definition: erk_capi_types.h:327
const long ER_SYNC_UNDEF
device synchronization not defined
Definition: erk_capi_types.h:346
double SpeedReduce
If speed_reduction is enabled [0.0005..1], erSetSpeedReductionEnable()
Definition: erk_capi_types.h:532
const long ER_NOTIFY_TYPE_MSG
Notify Type Level: OK 0, send simple messages with ER_NOTIFY_DOMAIN_OK or ER_NOTIFY_CODE_OK.
Definition: erk_capi_types.h:275
const int ER_APIDLL_CNTRL_INITIALIZE
Calling status for API-DLL, Initialization allowing to allocate dynamically memory or establish a TCP...
Definition: erk_capi_types.h:108
const long ER_DOF6
6 Degrees-of-Freedom
Definition: erk_capi_types.h:91
double PathLengthRemaining
Remaining path length until target reached.
Definition: erk_capi_types.h:546
const long ER_LS_MAXSTR
Maximum length of a long message.
Definition: erk_capi_types.h:98
const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED
current step status Robot motion was stopped
Definition: erk_capi_types.h:506
const int AUTOPATH_SDK_AXIS_BIT_24
axisBit Axis 24
Definition: erk_capi_types.h:815
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:766
const int AUTOPATH_SDK_AXIS_BIT_21
axisBit Axis 21
Definition: erk_capi_types.h:812
unsigned int TErTargetID
unique Target identifier
Definition: erk_capi_types.h:190
TErGeoHandle GeoHandle
unique geometry handle created by host application
Definition: erk_capi_types.h:249
const long ER_AUTOACCEL_MODE_AX
4-auto accel calculation joints aq_axis,aq_decel_axis = f(vq_axis), erSetAutoAccel() ...
Definition: erk_capi_types.h:397
const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT
GeoAttributes geometry visualized transparent, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:236
const int AUTOPATH_SDK_AXIS_BIT_2
axisBit Axis 2
Definition: erk_capi_types.h:793
sets the robot model to a position according to the input data. Usage with erSET_INITIAL_POSITION() ...
Definition: erk_capi_types.h:363
unsigned int * ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
unique External device definition for Conveyor
Definition: erk_capi_types.h:205
const long ER_ROT_ZYZ
Rotation Index: RotZ*RotY*RotZ, Staeubli CS7, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:701
const int ER_COLL_ERR_MODEL_OUT_OF_MEMORY
Returned when an API function cannot obtain enough memory to store or process a PQP_Model object...
Definition: erk_capi_types.h:724
const long ER_RRRRRR_ID
Device modelled as fixed articulated RRR:RRR type, such as Manutec.
Definition: erk_capi_types.h:353
A pair of two colliding triangles, see erColl_GetResults_Collide()
Definition: erk_capi_types.h:736
const int ER_GEO_ATTRIBUTES_UNDEF
GeoAttributes undefined, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:222
const long TRK_WND_NOT_ACTIVE
Tracking window is not active = 0.
Definition: erk_capi_types.h:477
const long ER_SYNC_CONVEYOR
device synchronization for track motion with Conveyor, tbd
Definition: erk_capi_types.h:349
const int AUTOPATH_SDK_STATUS_MP_DEL_WAYPOINTS
AutoPath delete at least one WayPoint, while minimize number of way points.
Definition: erk_capi_types.h:878
double speed_value
Speed for cartesian motion [m/sec].
Definition: erk_capi_types.h:464
const long ER_AUTOACCEL_MODE_ORI
2-auto accel calculation for orientation ax_ori,axe_ori = f(vx_ori), erSetAutoAccel() ...
Definition: erk_capi_types.h:396
const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_PARENT
GeoAttributes geometry object memory model 0-GEO_COLL_REF_EXCL_UNDEF, 1-GEO_COLL_REF_EXCL_PARENT, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:239
const long ER_NOTIFY_DOMAIN_GLOBAL
Domain notify level: GLOBAL 1-100.
Definition: erk_capi_types.h:281
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX
Quality Index based on calculated way points.
Definition: erk_capi_types.h:850
const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE
PTP solution calculated by shortest angle, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:388
const long ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE
PTP solution calculated within travel ranges, if possible, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:391
unsigned int * ER_TOOLPATH_HND
unique Tool path handle, created with erInitToolPath()
Definition: erk_capi_types.h:194
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400
action parameter is tbd
Definition: erk_capi_types.h:868
const int AUTOPATH_SDK_AXIS_BIT_6
axisBit Axis 6
Definition: erk_capi_types.h:797
const int AUTOPATH_SDK_STATUS_MP_FAILURE
AutoPath calculation failed.
Definition: erk_capi_types.h:874
double value
bool, Duration, DurationMax, OverrideMin, Override
Definition: erk_capi_types.h:342
const int ER_MOP_GNS_TARGET_REACHED
Definition: erk_capi_types.h:578
const int AUTOPATH_SDK_AXIS_BIT_7
axisBit Axis 7
Definition: erk_capi_types.h:798
const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE
action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:861
const int AUTOPATH_SDK_CONSTRAINT_RESET
Reset Constraints to min. and max. travel ranges.
Definition: erk_capi_types.h:853
const long ER_CIRC_ORI_INTERPOLATION_TANGENTIAL
Tangential dependent on orientation in start-location for orientation interpolation on a circle...
Definition: erk_capi_types.h:409
long ax_idx
axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints ...
Definition: erk_capi_types.h:255
const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST
action parameter is DestPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:859
double PathLengthMoving
moving path length, since motion starts
Definition: erk_capi_types.h:545
const long ER_LIN
Motion Type LIN linear motion, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:383
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:775
const long ER_LOG_TYPE_WARNING
warning Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:271
const int AUTOPATH_SDK_RESULT_SECONDS
Elapsed time in seconds for AutoPath calculation.
Definition: erk_capi_types.h:843
long step_number
counts the number of get next step
Definition: erk_capi_types.h:516
TErTrackingWindowID TrackingWindowID
unique target identifier for Tracking Window
Definition: erk_capi_types.h:528
const int AUTOPATH_SDK_AXIS_TYPE_ROBOT
Axis Type Robot axis.
Definition: erk_capi_types.h:836
long NumberOfEvents
Specifies the number of events, tbd.
Definition: erk_capi_types.h:492
const long ER_NOTIFY_CODE_OK
Code notify level: OK 0.
Definition: erk_capi_types.h:287
const int ER_APIDLL_CNTRL_SIM_START
Calling status for API-DLL, Start indicates that the simulation starts.
Definition: erk_capi_types.h:110
const long ER_AUTOACCEL_MODE_OFF
0 no auto accel calculation, erSetAutoAccel()
Definition: erk_capi_types.h:394
const long ER_LOG_TYPE_CONSOLE
Log Message output to console window.
Definition: erk_capi_types.h:269
INT_PTR * deviceHandle
Unique device handle an axis belongs to, size nConfig.
Definition: erk_capi_types.h:894
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED
Code notify warning, maximum joint acceleration exceeded.
Definition: erk_capi_types.h:314
struct _NEXT_STEP_DATA NEXT_STEP_DATA
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:776
const int ER_APIDLL_CNTRL_UNDEF
Calling status for API-DLL is undefined.
Definition: erk_capi_types.h:107
const int AUTOPATH_SDK_RESULT_COBSTACLE
Number of CObstacle Checks during AutoPath calculation.
Definition: erk_capi_types.h:846
const long TRK_WND_INSIDE
Robot is inside Tracking window = 2;.
Definition: erk_capi_types.h:479
const int INV_WARN_ERROR
ERROR in inverse kinematics calculation.
Definition: erk_capi_types.h:667
long closer_than_tolerance
0- >tolerance, 1- <= tolerance
Definition: erk_capi_types.h:777
const long KIN_COUNTER_WEIGHT_NO
Robot has no counter weight.
Definition: erk_capi_types.h:684
const long JNT_TYPE_ROT
Robot Joint is rotational.
Definition: erk_capi_types.h:652
const long ER_LICENSE_PRIORITY_DEFAULT
check Lmngr license first
Definition: erk_capi_types.h:267
unsigned int * Host_HND
unique Host handle given from Host, NULL per default, erInitKin()
Definition: erk_capi_types.h:188
const long JNT_CHAIN_TYPE_NO_CHAIN
Robot Joint is NOT in the kinematics chain.
Definition: erk_capi_types.h:660
const long ER_ROT_Z9XZ
Rotation Index: RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:709
TErGeoHandle(ER_STDCALL * TerLoadGeometryProc)(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data)
Callback function type definition to load a geometry, erSetCallBack_LoadGeometryProc() ...
Definition: erk_capi_types.h:602
Group synchronization data structure Used with callback function TerGrpSyncProc() ...
Definition: erk_capi_types.h:339
const long ER_LICENSE_PRIORITY_UNDEF
license priority not defined
Definition: erk_capi_types.h:264
const long ER_CSTEP_STATUS_VIA_POINT
current step status ViaPoint is set, waiting for CIRC Target
Definition: erk_capi_types.h:503
double LeadWaitTime
Leading time, before move will start.
Definition: erk_capi_types.h:439
const long ER_ROT_XYZ
Rotation Index: RotX*RotY*RotZ, EASY-ROB, Staeubli CS8, erMath_VecToFrameIdx(), erMath_FrameToVecIdx...
Definition: erk_capi_types.h:698
ER_REAL_TYPE * SpeedWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:904
const long ER_ROT_RPY
Rotation Index: Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:703
Collision results for query ER_COLL_QUERY_TYPE_DISTANCE, see erColl_GetResults_Distance() The followi...
Definition: erk_capi_types.h:759
const long ER_AUTOACCEL_MODE_ON
all accel calculation enabled, erSetAutoAccel()
Definition: erk_capi_types.h:399
const int AUTOPATH_SDK_AXIS_BIT_18
axisBit Axis 18
Definition: erk_capi_types.h:809
char * FileName
file name geometetry file to be loaded
Definition: erk_capi_types.h:250
const long ER_ROT_Z9XY
Rotation Index: RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180], erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:708
double PathLength
complete path length of current motion
Definition: erk_capi_types.h:544
const long ER_NOTIFY_TYPE_ERROR
Notify Type Level: ERROR 2.
Definition: erk_capi_types.h:277
const long ER_AUTOACCEL_MODE_POS
1-auto accel calculation for position ax,axe = f(vx), erSetAutoAccel()
Definition: erk_capi_types.h:395
const long JNT_DIRECTION_Z
Robot Joint is in Z direction.
Definition: erk_capi_types.h:657
double DistanceRemaining
Remaining euclidean distance until target reached.
Definition: erk_capi_types.h:550
const long ER_KIN_CONFIGS
Maximum number of possible robot configurations.
Definition: erk_capi_types.h:88
long current_step_status
current step status, as a bitwise inclusive OR operator (|) ER_CSTEP_STATUS_OK, ...
Definition: erk_capi_types.h:514
int id2
identifier triangles 2nd object
Definition: erk_capi_types.h:739
const long ER_GEO_TYPE_IGP
Geometry Type IGP Part file, number of scaling = 3: X-, Y-, Z-scale, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:216
unsigned int * ER_TARGET_INSTRUCTIONS_HND
Instructions, individual information text.
Definition: erk_capi_types.h:197
Geometry data structure for callback function. Used when loading and updating robot geometries With c...
Definition: erk_capi_types.h:248
const long KIN_A2A3_COUPLING_YES
Robot has axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:681
const long ER_ONOFF_ENABLE
enable flag
Definition: erk_capi_types.h:689
unsigned int * ER_COLLISION_HND
unique Collision handle, created with erColl_BeginModel()
Definition: erk_capi_types.h:192
const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE
Code notify, error -78. Cannot prepare motion.
Definition: erk_capi_types.h:302
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:767
long Configuration
current manipulator configuration [1..
Definition: erk_capi_types.h:526
const long ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END
Use start-,via- and end-location for orientation interpolation on a circle, hereby the robot reaches ...
Definition: erk_capi_types.h:408
double JointAcc[ER_KIN_DOFS]
current joint acceleration [rad/s^2,mm/s^2]
Definition: erk_capi_types.h:522
const long ER_GEO_TYPE_SPHERE
Geometry Type SPHERE, number of parameter = 5: Radius [deg], y-Scale, Angle [deg], Beta_1 [deg], Beta_2 [deg], see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:215
const int AUTOPATH_SDK_STATUS_MP_SUCCESS
AutoPath calculation successful.
Definition: erk_capi_types.h:873
const long ER_NOTIFY_DOMAIN_KIN_CALC
Domain notify level: KIN_CALC 201-300.
Definition: erk_capi_types.h:283
const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR
Code notify warning -1059, Cartesian position is singular.
Definition: erk_capi_types.h:312
double Distance
Euclidean distance between cartesian start and target position.
Definition: erk_capi_types.h:548
const int ER_GEO_ATTRIBUTES_INVISIBLE
GeoAttributes render invisible, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:227
const int AUTOPATH_SDK_CONSTRAINT_MAX
Set ConstraintMax.
Definition: erk_capi_types.h:855
unsigned int * ER_TARGET_MOVE_JOINT_HND
unique Target data for Joint Move handle
Definition: erk_capi_types.h:200
double speed_value
Target speed [m/s,rad/s].
Definition: erk_capi_types.h:420
const int AUTOPATH_SDK_RESULT_CDENSITY
Density in [%] = Number of CObstacle / (Number of CFree + Number of CObstacle) during AutoPath calcul...
Definition: erk_capi_types.h:847
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40
action parameter is tbd
Definition: erk_capi_types.h:864
double JointPosExtAx[ER_EXTAX_KIN_DATA_MAX]
current external axis joint position [rad,mm]
Definition: erk_capi_types.h:525
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20
action parameter is tbd
Definition: erk_capi_types.h:863
Definition: erk_capi_types.h:486
const int ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT
Get Next Tool Path Step, writes contents for current ToolPath into file stream, use with ER_MOP_GNTPS...
Definition: erk_capi_types.h:564
double DistanceMoving
moving euclidean distance, since motion starts
Definition: erk_capi_types.h:549
const int AUTOPATH_SDK_ERROR
Error in AutoPath method.
Definition: erk_capi_types.h:819
const int ER_GEO_ATTRIBUTES_INVERT
GeoAttributes geometry visualized inverted 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA. ...
Definition: erk_capi_types.h:230
long Turns[ER_KIN_DOFS]
current turn values depending on joint position and defined turn interval
Definition: erk_capi_types.h:523
unsigned int TErTrackingWindowID
unique TrackingWindow identifier
Definition: erk_capi_types.h:191
const long ER_ONOFF_STATUS
request current flag status, result ER_ONOFF_DISABLE, ER_ONOFF_ENABLE
Definition: erk_capi_types.h:690
int NotificationDomain
ER_NOTIFY_DOMAIN_OK, ER_NOTIFY_DOMAIN_GLOBAL, ER_NOTIFY_DOMAIN_FILE_IO, ER_NOTIFY_DOMAIN_KIN_CALC, ER_NOTIFY_DOMAIN_MOTION_PREP, ER_NOTIFY_DOMAIN_MOTION_EXEC.
Definition: erk_capi_types.h:322
double * GeoAttributeParameter
Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]), maximum length ER_GEO_PARAMETER_MAX.
Definition: erk_capi_types.h:261
const long ER_KIN_DOFS
Maximum number of Degrees-of-Freedom for a kinematics.
Definition: erk_capi_types.h:89
const int AUTOPATH_SDK_AXIS_TYPE_EXTERN
Axis Type other external Axis.
Definition: erk_capi_types.h:839
int NotificationCode
Notify code ER_NOTIFY_CODE_WARN_*, ER_NOTIFY_CODE_IPO_*.
Definition: erk_capi_types.h:323
const int ER_MOP_GNTPS_CNTRL_UPDATE_GEO
Get next tool path step, call erUpdateGeo() for each simulation step, use with ER_MOP_GNTPS_CNTRL_NEX...
Definition: erk_capi_types.h:560
const int AUTOPATH_SDK_PARAMETER_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:830
Definition: erk_capi_types.h:459
long SyncIDDiscCont
relevant SyncID
Definition: erk_capi_types.h:341
const long JNT_CHAIN_TYPE_SEP_NO_CHAIN
Robot Joint is separated & NOT in the kinematics chain.
Definition: erk_capi_types.h:661
const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE
action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints() ...
Definition: erk_capi_types.h:862
const long ER_NOTIFY_CODE_IPO_EXEC_RUNNING
Code notify, execution running, internal error -79, Not ready to receive targets. ...
Definition: erk_capi_types.h:297
Notify data structure Used with callback function TerNotifyProc()
Definition: erk_capi_types.h:320
const int AUTOPATH_SDK_CONSTRAINT_MIN
Set ConstraintMin.
Definition: erk_capi_types.h:854
double JointPos[ER_KIN_DOFS]
Joint position.
Definition: erk_capi_types.h:488
const int AUTOPATH_SDK_AXIS_BIT_1
axisBit Axis 1
Definition: erk_capi_types.h:792
const int AUTOPATH_SDK_AXIS_TRANS
Axis is translational.
Definition: erk_capi_types.h:885
const long ER_GEO_TYPE_CONE
Geometry Type CONE, number of parameter = 6: Radius [deg], Height [m], y-Scale, dx [m]...
Definition: erk_capi_types.h:214
const long ER_COLL_QUERY_TYPE_UNDEF
no collision check
Definition: erk_capi_types.h:715
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 ...
Definition: erk_capi_types.h:631
unsigned int * ER_TARGET_HEAD_HND
unique Header data handle
Definition: erk_capi_types.h:196
const long ER_DOF12
12 Degrees-of-Freedom
Definition: erk_capi_types.h:94
const long ER_NOTIFY_CODE_IPO_POS_OUT_OF_BOUNDARY
Code notify error -1053, Cartesian position is out of boudary work range.
Definition: erk_capi_types.h:310
long RGBColor
color value of loaded geometry
Definition: erk_capi_types.h:252
const long ER_ROT_ZYX
Rotation Index: RotZ*RotY*RotX, KUKA, Reis, Kobelco, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:699
const long ER_DIM
3 Dimensions
Definition: erk_capi_types.h:95
const long ER_SYNC_VR_OFF
device synchronization, tbd
Definition: erk_capi_types.h:350
long SyncIDContinuous
Handle for MotionSync.
Definition: erk_capi_types.h:442
const long ER_OUPUT_FORMAT_CART_JOINT_ANGLE_DIST
desired output_format for erGET_NEXT_STEP is Cartesian and joint angle/distance
Definition: erk_capi_types.h:376
Definition: erk_capi_types.h:887
const long ER_COLL_QUERY_TYPE_TOLERANCE
checks if distance between PQP_Models is <= tolerance, erColl_ChkCollision()
Definition: erk_capi_types.h:718
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800
action parameter is tbd
Definition: erk_capi_types.h:869
const int ER_GEO_ATTRIBUTES_BFACE_CULLING
GeoAttributes geometry visualized back face culling, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:231
double axis_value
Target value [m,rad].
Definition: erk_capi_types.h:419
ER_HND er_hnd_connect
Handle of connected device.
Definition: erk_capi_types.h:417
double JointPos[ER_KIN_DOFS]
Target joint position for joint motion and target type ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:474
const int ER_COLL_ERR_BUILD_OUT_OF_SEQUENCE
Returned when: 1. erColl_AddTri() is called before erColl_BeginModel(). 2. erColl_BeginModel() is cal...
Definition: erk_capi_types.h:727
const long ER_DOMINANT_INTERPOLATION_AXIS
3-dominant interpolation type, Axis is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:403
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:529
const double ER_PI
PI.
Definition: erk_capi_types.h:101
TErTargetID TargetID
Identifier of the target, 0 no identifier givin, >0 identifier of this target.
Definition: erk_capi_types.h:461
int * AxisPriority
[1..50..100], size nConfig
Definition: erk_capi_types.h:897
long TargetPosSet
0x0 - not set, 0x1 - CartPos, 0x2 - CartPosVia, 0x4 - JointPos
Definition: erk_capi_types.h:471
const long ER_ROT_Z
Rotation Index: Rotation about z axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:696
double JointVel[ER_KIN_DOFS]
current joint speed [rad/s,mm/s]
Definition: erk_capi_types.h:521
const int ER_APIDLL_CNTRL_TERMINATE
Calling status for API-DLL, Terminate, allowing to delete allocated memory or to terminate a TCP/IP c...
Definition: erk_capi_types.h:109
double joint_speed_percent
Joint speed percentage [1%..200%] for joint motion.
Definition: erk_capi_types.h:466
double TrajectoryTime
resulted trajectory time
Definition: erk_capi_types.h:494
const long ER_LICENSE_PRIORITY_LMNGR
check Lmngr license first
Definition: erk_capi_types.h:265
const long ER_ROT_Z9YX
Rotation Index: RotZ*RotY*RotX,b+m T1 xx4xx, [-90..+90] [-180..+180] [-180..+180] (~KUKA)...
Definition: erk_capi_types.h:710
const int INV_WARN_SWE_EXCEED
Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges a...
Definition: erk_capi_types.h:673
unsigned int * ER_TARGET_MOTION_EXEC_HND
unique handle for motion execution data at target
Definition: erk_capi_types.h:202
long(ER_STDCALL * TerNotifyProc)(ER_HND ErHandle, Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData)
Callback function type definition for notifications, erSetCallBack_NotifyProc()
Definition: erk_capi_types.h:641
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:527
const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN
MoveSync, get min ov of all robots in KIR group.
Definition: erk_capi_types.h:332
const int ER_COLL_ERR_OUT_OF_MEMORY
Returned when a PQP query cannot allocate enough storage to compute or hold query information...
Definition: erk_capi_types.h:725
double flyby_value
Flyby or zone value, depending on flyby type as percentage value [0%..100%], or distance [mm]...
Definition: erk_capi_types.h:469
double tolerance
givin tolerance value
Definition: erk_capi_types.h:778
long num_pairs_alloced
current number of allocated pairs
Definition: erk_capi_types.h:748
const long ER_NOTIFY_CODE_IPO_NEW_PREP_PATH
Code notify, preparation running,internal error -79, Not ready to receive targets.
Definition: erk_capi_types.h:298
const int ER_GEO_ATTRIBUTES_DEFAULT
GeoAttributes default settings.
Definition: erk_capi_types.h:241
const int ER_COLL_ALL_CONTACTS
find all pairwise intersecting triangles, erColl_ChkCollision()
Definition: erk_capi_types.h:720
const long ER_CSTEP_STATUS_INV_WARNING
current step status Inverse Kinematics with warnings
Definition: erk_capi_types.h:507
const int AUTOPATH_SDK_AXIS_BIT_5
axisBit Axis 5
Definition: erk_capi_types.h:796
DFRAME CartPos
current cartesian TCP position w.r.t. Work Object
Definition: erk_capi_types.h:517
const double AUTOPATH_SDK_KIN_EPSI
epsi
Definition: erk_capi_types.h:788
const long ER_NOTIFY_TYPE_WARNING
Notify Type Level: Warning 1.
Definition: erk_capi_types.h:276
const long ER_ROT_CA
Rotation Index: Tricept C-RotZ, A-RotX, NC, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:705
const int AUTOPATH_SDK_RESULT_CHECKS
Number of Checks during AutoPath calculation.
Definition: erk_capi_types.h:842
Definition: erk_capi_types.h:416
const long ER_LOG_TYPE_STATUS
status Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:273
const long ER_SYNC_OFF
device synchronization OFF
Definition: erk_capi_types.h:347
const double ER_mm2m
Conversion from [m] to [mm].
Definition: erk_capi_types.h:104
const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG
PTP solution calculated by variable configuration, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:392
const long ER_NOTIFY_CODE_IPO_EXEC_ERROR
Code notify internal error -68, stop Get_Next_Step.
Definition: erk_capi_types.h:308
long(ER_STDCALL * TerGrpSyncProc)(ER_HND ErHandle, Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData)
Callback function type definition group synchronization, erSetCallBack_GrpSyncProc() ...
Definition: erk_capi_types.h:650
const int AUTOPATH_SDK_PARAMETER_NTREES
Number of Trees [2..32].
Definition: erk_capi_types.h:824
const long ER_AUTOACCEL_MODE_DEF
Default: auto accel calculation for position and orientation, erSetAutoAccel()
Definition: erk_capi_types.h:398
unsigned int * ER_TARGET_ATTRIBUTES_AUX_HND
unique Auxiliary motion attributes handle
Definition: erk_capi_types.h:198
double TrajectoryTimeMoving
current moving time, since motion starts
Definition: erk_capi_types.h:540
const int ER_MOP_SNT_ERROR
Definition: erk_capi_types.h:571
const long ER_ROT_Y
Rotation Index: Rotation about y axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:695