EASY-ROB™ Kernel  v8.603
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 - 2022
7 
8  Date: AUG 2022
9  Version: 8.603
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  v8308 nov 2021
54  v8602 mar 2022 Pre Release
55  v8603 aug 2022 Pre Release
56 */
57 
58 #ifndef _erk_capi_types_h
59 #define _erk_capi_types_h
60 
61 #ifdef _WIN32
62 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
63 // Windows
64 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
65 //
66 #define DLLAPI __declspec(dllexport)
67 #define ER_STDCALL __stdcall
68 
69 #else
70 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
71 // Linux
72 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
73 //
74 #define DLLAPI
75 #define ER_STDCALL
76 
77 #endif //_WIN32
78 
84 typedef struct {
85  double n[3],
86  o[3],
87  a[3],
88  p[3];
89 } DFRAME;
90 
91 const long ER_KIN_CONFIGS = 8;
92 const long ER_KIN_DOFS = 12;
93 const long ER_KIN_PASSIVE_JNTS = 36;
94 const long ER_DOF6 = 6;
95 const long ER_DOF_QUAT = 7;
96 const long ER_DOF9 = 9;
97 const long ER_DOF12 = 12;
98 const long ER_DIM = 3;
99 const long ER_MAXSTR = 128;
100 const long ER_DMAXSTR = 256;
101 const long ER_LS_MAXSTR = 512;
102 const long ER_HS_MAXSTR = 1024;
103 
104 const double ER_PI = 3.14159265359;
105 const double ER_DEG = 180.0/ER_PI;
106 const double ER_RAD = ER_PI/180.0;
107 const double ER_mm2m = 0.001;
108 const double ER_m2mm = 1000.0;
109 
110 const int ER_APIDLL_CNTRL_UNDEF = 0x0;
112 const int ER_APIDLL_CNTRL_TERMINATE = 0x2;
113 const int ER_APIDLL_CNTRL_SIM_START = 0x4;
114 const int ER_APIDLL_CNTRL_SIM_STEP = 0x8;
115 const int ER_APIDLL_CNTRL_SIM_STOP = 0x10;
116 
117 //const int ER_APIDLL_CALL_UNDEF = 0x0; // undefined
118 //const int ER_APIDLL_CALL_LOAD_CELL = 0x1; // load_cell APIDLL_CNTRL_INITIALIZE
119 //const int ER_APIDLL_CALL_LOAD_ROBOT = 0x2; // load_robot APIDLL_CNTRL_INITIALIZE
120 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_K = 0x4; // load_new_robot_data APIDLL_CNTRL_INITIALIZE KIN
121 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_I = 0x8; // load_new_robot_data APIDLL_CNTRL_INITIALIZE IPO
122 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_D = 0x10;// load_new_robot_data APIDLL_CNTRL_INITIALIZE DYN
123 //const int ER_APIDLL_CALL_DELETE_ROBOT = 0x20; // data_delete_robot, APIDLL_CNTRL_TERMINATE
124 //const int ER_APIDLL_CALL_DELETE_ROBOT_ALL = 0x40; // RemoveRobot_All, APIDLL_CNTRL_TERMINATE
125 //const int ER_APIDLL_CALL_CREATE_ROBOT = 0x80; // createkinematic_ext APIDLL_CNTRL_INITIALIZE
126 //const int ER_APIDLL_CALL_MODIFY_INVKIN = 0x100; // modify_invkin APIDLL_CNTRL_INITIALIZE
127 //const int ER_APIDLL_CALL_IPO_ALL_MODE = 0x200; // ipo all motypes APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
128 //const int ER_APIDLL_CALL_IPO_JOINT = 0x400; // ipo_joint APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
129 //const int ER_APIDLL_CALL_IPO_CP = 0x800; // ipo_cp APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
130 //const int ER_APIDLL_CALL_IPO_CIRC = 0x1000; // ipo_circ APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
131 //
132 //const int ER_APIDLL_DEVIDX_ALL = 0; // For all devices
133 //const int ER_APIDLL_DEVIDX_CURRENT = -1; // For the current device only
134 
135 #ifdef _WIN64
136 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
137 // Windows x64
138 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
139 //
140 typedef UINT_PTR* ER_HND;
141 typedef UINT_PTR* Host_HND;
142 typedef UINT_PTR TErGeoHandle;
143 typedef UINT_PTR TErTargetID;
144 typedef UINT_PTR TErTrackingWindowID;
145 typedef UINT_PTR *ER_COLLISION_HND;
146 
147 typedef UINT_PTR *ER_TOOLPATH_HND;
148 typedef UINT_PTR *ER_TARGET_LOCATION_HND;
149 typedef UINT_PTR *ER_TARGET_HEAD_HND;
150 typedef UINT_PTR *ER_TARGET_INSTRUCTIONS_HND;
151 typedef UINT_PTR *ER_TARGET_EVENTS_HND;
152 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_AUX_HND;
153 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_HND;
154 typedef UINT_PTR *ER_TARGET_MOVE_JOINT_HND;
155 typedef UINT_PTR *ER_TARGET_MOVE_CP_HND;
156 typedef UINT_PTR *ER_TARGET_MOTION_EXEC_HND;
157 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
158 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
159 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
160 
161 #elif _WIN32
162 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
163 // Windows
164 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
165 //
166 typedef unsigned int* ER_HND;
167 typedef unsigned int* Host_HND;
168 typedef unsigned int TErGeoHandle;
169 typedef unsigned int TErTargetID;
170 typedef unsigned int TErTrackingWindowID;
171 typedef unsigned int *ER_COLLISION_HND;
172 
173 typedef unsigned int *ER_TOOLPATH_HND;
174 typedef unsigned int *ER_TARGET_LOCATION_HND;
175 typedef unsigned int *ER_TARGET_HEAD_HND;
176 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
177 typedef unsigned int *ER_TARGET_EVENTS_HND;
178 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
179 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
180 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
181 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
182 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
183 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
184 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
185 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
186 
187 #else
188 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
189 // Linux
190 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
191 //
192 typedef unsigned int* ER_HND;
193 typedef unsigned int* Host_HND;
194 typedef unsigned int TErGeoHandle;
195 typedef unsigned int TErTargetID;
196 typedef unsigned int TErTrackingWindowID;
197 typedef unsigned int *ER_COLLISION_HND;
198 
199 typedef unsigned int *ER_TOOLPATH_HND;
200 typedef unsigned int *ER_TARGET_LOCATION_HND;
201 typedef unsigned int *ER_TARGET_HEAD_HND;
202 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
203 typedef unsigned int *ER_TARGET_EVENTS_HND;
204 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
205 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
206 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
207 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
208 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
211 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;
212 
213 #endif //_WIN32
214 
215 
216 const long ER_GEO_TYPE_CUBE = 1;
217 const long ER_GEO_TYPE_PYRAMID = 2;
218 const long ER_GEO_TYPE_WEDGE = 3;
219 const long ER_GEO_TYPE_CYLINDER = 4;
220 const long ER_GEO_TYPE_CONE = 5;
221 const long ER_GEO_TYPE_SPHERE = 6;
222 const long ER_GEO_TYPE_IGP = 9;
223 const long ER_GEO_TYPE_STL = 11;
224 const long ER_GEO_TYPE_3DS = 12;
225 
226 const long ER_GEO_PARAMETER_MAX = 12;
227 
228 const int ER_GEO_ATTRIBUTES_UNDEF = 0x0;
229 const int ER_GEO_ATTRIBUTES_SMOOTH = 0x1;
230 const int ER_GEO_ATTRIBUTES_WIRE = 0x2;
231 const int ER_GEO_ATTRIBUTES_BBFLAT = 0x4;
232 const int ER_GEO_ATTRIBUTES_BBWIRE = 0x8;
233 const int ER_GEO_ATTRIBUTES_INVISIBLE = 0x10;
234 const int ER_GEO_ATTRIBUTES_VERTICES = 0x20;
235 const int ER_GEO_ATTRIBUTES_FLAT = 0x40;
236 const int ER_GEO_ATTRIBUTES_INVERT = 0x100;
238 const int ER_GEO_ATTRIBUTES_SHOW_NAME = 0x400;
240 const int ER_GEO_ATTRIBUTES_SHOW_MESH = 0x1000;
241 const int ER_GEO_ATTRIBUTES_SHOW_EDGES = 0x2000;
243 const int ER_GEO_ATTRIBUTES_CHK_COLLISION = 0x10000;
248 
254 typedef struct {
256  char *FileName;
257  char *GeoName;
258  long RGBColor;
259  double *Scaling;
261  long ax_idx;
262  long GeoType;
268 } LOAD_GEOMETRY_DATA; // HostLoadGeometry LoadGeometryProc
269 
270 const long ER_LICENSE_PRIORITY_UNDEF = 0x0;
271 const long ER_LICENSE_PRIORITY_LMNGR = 0x1;
272 const long ER_LICENSE_PRIORITY_LOCAL = 0x2;
274 
275 const long ER_LOG_TYPE_CONSOLE = -1;
276 const long ER_LOG_TYPE_MSG = 0;
277 const long ER_LOG_TYPE_WARNING = 1;
278 const long ER_LOG_TYPE_ERROR = 2;
279 const long ER_LOG_TYPE_STATUS = 3;
280 
281 const long ER_NOTIFY_TYPE_MSG = 0;
282 const long ER_NOTIFY_TYPE_WARNING = 1;
283 const long ER_NOTIFY_TYPE_ERROR = 2;
285 
286 const long ER_NOTIFY_DOMAIN_OK = 0;
287 const long ER_NOTIFY_DOMAIN_GLOBAL = 1;
288 const long ER_NOTIFY_DOMAIN_FILE_IO = 2;
292 
293 const long ER_NOTIFY_CODE_OK = 0;
294 
296 const long ER_NOTIFY_CODE_WARN_UNREACH = 202;
300 const long ER_NOTIFY_CODE_WARN_ERROR = 206;
302 
311 
321 
326 typedef struct {
331  char Msg[ER_MAXSTR];
332 } TErNotifyData; // HostNotify NotifyProc
333 typedef void* TErExtraData;
334 
336 const long ER_GRPSYNC_SET_DURATION = 1;
340 
345 typedef struct {
346  long SyncType;
348  double value;
349 } TErGrpSyncData; // HostGrpSync GrpSyncProc
350 
351 // erConnect* NEW_050402 CONNECT_SYNC_UNDEF, ....
352 const long ER_SYNC_UNDEF =0x0;
353 const long ER_SYNC_OFF =0x1;
354 const long ER_SYNC_ON =0x2;
355 const long ER_SYNC_CONVEYOR =0x4;
356 const long ER_SYNC_VR_OFF =0x8;
358 
359 const long ER_RRRRRR_ID =1;
360 const long ER_TTTRRR_ID =2;
361 const long ER_RRRRRR_BL_ID =3;
362 const long ER_UNIV_ROB_ID =10;
363 const long ER_DH_ID =11;
364 
369 typedef struct {
371  double JointPos[ER_KIN_DOFS];
372  char Configuration[ER_MAXSTR];
374 
375 const long ER_TARGET_TYPE_ABS = 0;
376 const long ER_TARGET_TYPE_ABSJOINT = 9;
377 
383 
384 const long ER_MOTION_FILTER_GEO = 0;
385 const long ER_MOTION_FILTER_C2 = 1;
386 
389 
390 const long ER_JOINT = 1;
391 const long ER_PTP = ER_JOINT;
392 const long ER_LIN = 2;
393 const long ER_SLEW = 3;
394 const long ER_CIRC = 4;
395 
402 
403 const long ER_AUTOACCEL_MODE_OFF =0x0;
404 const long ER_AUTOACCEL_MODE_POS =0x1;
405 const long ER_AUTOACCEL_MODE_ORI =0x2;
406 const long ER_AUTOACCEL_MODE_AX =0x4;
409 
414 
420 
425 typedef struct _ER_EXTAX_KIN_DATA {
427  long axis_idx;
428  double axis_value;
429  double speed_value;
431 
432 const long ER_EXTAX_KIN_DATA_MAX = 12;
433 
439 typedef struct _NEXT_TARGET_DATA {
441  long TargetParam;
446  double TrajectoryTime;
448  double LeadWaitTime;
449  double LagWaitTime;
455 
456 const long ER_FLYBY_OFF = 0;
457 const long ER_FLYBY_ON = 1;
458 
459 const long ER_FLYBY_TYPE_UNDEF = 0;
460 const long ER_FLYBY_TYPE_SPEED = 1;
461 const long ER_FLYBY_TYPE_DISTANCE = 2;
462 
471  long MotionType;
472  long target_type;
473  double speed_value;
476  double segment_length;
477  long flyby_type;
478  double flyby_value;
485 
486 const long TRK_WND_NOT_ACTIVE = 0;
487 const long TRK_WND_WAITING = 1;
488 const long TRK_WND_INSIDE = 2;
489 const long TRK_WND_OUT_OF_BOUNDARY = 3;
490 
495 typedef struct _NEXT_STEP_DATA {
499  double ElapsedTime;
500  long JointLimit;
503  double TrajectoryTime;
508 
509 const long ER_CSTEP_STATUS_UNDEF =0x0;
510 const long ER_CSTEP_STATUS_ERROR =0x1;
511 const long ER_CSTEP_STATUS_OK =0x2;
512 const long ER_CSTEP_STATUS_VIA_POINT =0x4;
516 const long ER_CSTEP_STATUS_INV_WARNING =0x40;
517 
522 typedef struct _CURRENT_STEP_DATA {
525  long step_number;
528  long n_dof;
538  long MotionType;
539  long ExternalTcp;
540 
541  double SpeedReduce;
542  double OverrideSpeed;
546 
548  double TrajectoryTime;
552 
553  double PathLength;
556 
557  double Distance;
558  double DistanceMoving;
561 
562 // ERK_CAPI_TOOLPATH
563 const int ER_MOP_GNTPS_CNTRL_UNDEF = 0x0;
564 const int ER_MOP_GNTPS_CNTRL_INIT = 0x1;
567 const int ER_MOP_GNTPS_CNTRL_TBD_08 = 0x8;
568 
570 
571 const int ER_MOP_GNTPS_CNTRL_LOG_FILE = 0x100;
572 const int ER_MOP_GNTPS_CNTRL_PRG_FILE = 0x200;
575 
576 const int ER_MOP_GNT_ERROR = -1;
577 const int ER_MOP_GNT_OK_SUCCESS = 0;
578 const int ER_MOP_GNT_NO_TARGETS = -2;
579 
580 const int ER_MOP_SNT_ERROR = -1;
581 const int ER_MOP_SNT_OK_SUCCESS = 0;
583 
584 const int ER_MOP_GNS_ERROR = -1;
585 const int ER_MOP_GNS_OK_SUCCESS = 0;
589 
590 // EVENTS
591 const int ER_EVENT_BOOL_N = 32;
592 
593 const long ER_EVENT_BOOL_UNDEF = 0x0;
594 const long ER_EVENT_BOOL_OFF = 0x1;
595 const long ER_EVENT_BOOL_ON = 0x2;
596 
597 const long ER_EVENT_TRIGGER_OFF = 0x0;
598 const long ER_EVENT_TRIGGER_DWN = 0x1;
599 const long ER_EVENT_TRIGGER_UP = 0x2;
600 
601 const long ER_EVENT_CONDITION_UNDEF = 0x0;
606 const long ER_EVENT_CONDITION_WAIT_DIN_LT = 0x100;
607 const long ER_EVENT_CONDITION_WAIT_DIN_LE = 0x200;
608 
609 // Deklaration of Callback functions
610 // TerLogProc
611 // TerLoadGeometryProc
612 // TerUpdateGeometryProc
613 // TerFreeGeometryProc
614 // TerGetActualTravelRangesProc
615 // TerNotifyProc
616 // TerGrpSyncProc
617 //
623 typedef void (ER_STDCALL* TerLogProc)(long LogType, char *LogMessage);
624 
630 typedef TErGeoHandle (ER_STDCALL* TerLoadGeometryProc)(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data);
631 
639 typedef long (ER_STDCALL* TerUpdateGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle, DFRAME *KinMat);
640 
648 typedef long (ER_STDCALL* TerFreeGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle);
649 
659 typedef long (ER_STDCALL* TerGetActualTravelRangesProc)(ER_HND ErHandle, Host_HND HostHandle, double *Joints, double *TravelRangeMin, double *TravelRangeMax);
660 
669 typedef long (ER_STDCALL* TerNotifyProc)(ER_HND ErHandle,Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData);
670 
678 typedef long (ER_STDCALL* TerGrpSyncProc)(ER_HND ErHandle,Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData);
679 
680 const long JNT_TYPE_ROT =0;
681 const long JNT_TYPE_TRANS =1;
682 
683 const long JNT_DIRECTION_X = 1;
684 const long JNT_DIRECTION_Y = 2;
685 const long JNT_DIRECTION_Z = 3;
686 
687 const long JNT_CHAIN_TYPE_CHAIN = 1;
688 const long JNT_CHAIN_TYPE_NO_CHAIN = 2;
690 
691 const long IPO_MODE_BASE =0;
692 const long IPO_MODE_TOOL =1;
693 
694 // Return code for inverse kinematics, INV_WARN_*
695 const int INV_WARN_ERROR =-1;
696 const int INV_WARN_OK =0;
697 const int INV_WARN_SINGULAR =1;
698 const int INV_WARN_UNREACH =2;
699 const int INV_WARN_CNFG =3;
700 const int INV_WARN_NO_INVKIN =4;
701 const int INV_WARN_SWE_EXCEED =5;
702 
703 // Return code erGetBackLink() obsolete -> use erGetBacklink(...)
704 const long KIN_BACK_LINK_NO =0;
705 const long KIN_BACK_LINK_YES =1;
706 const long KIN_BACK_LINK_UNKNOWN =2;
707 
708 const long KIN_A2A3_COUPLING_NO =0;
709 const long KIN_A2A3_COUPLING_YES =1;
711 
712 const long KIN_COUNTER_WEIGHT_NO =0;
713 const long KIN_COUNTER_WEIGHT_YES =1;
715 
716 const long ER_ONOFF_DISABLE = 0;
717 const long ER_ONOFF_ENABLE = 1;
718 const long ER_ONOFF_STATUS = 2;
719 
720 // rotation Indices ER_ROT_
721 const long ER_ROT_IDENT = 0;
722 const long ER_ROT_X = 1;
723 const long ER_ROT_Y = 2;
724 const long ER_ROT_Z = 3;
725 
726 const long ER_ROT_XYZ = 1;
727 const long ER_ROT_ZYX = 2;
728 const long ER_ROT_YXZ = 3;
729 const long ER_ROT_ZYZ = 4;
730 const long ER_ROT_XYX = 5;
731 const long ER_ROT_RPY = 6;
732 const long ER_ROT_QUAT = 7;
733 const long ER_ROT_CA = 8;
734 const long ER_ROT_ZYpZ = 9;
735 const long ER_ROT_Y9XZ = 10;
736 const long ER_ROT_Z9XY = 11;
737 const long ER_ROT_Z9XZ = 12;
738 const long ER_ROT_Z9YX = 13;
739 const long ER_ROT_IJK = 14;
740 const long ER_ROT_ANGLE_1 = 15;
741 
742 // ERK_CAPI_SIM_COLLISION
743 const long ER_COLL_QUERY_TYPE_UNDEF = 0;
747 
748 const int ER_COLL_ALL_CONTACTS = 1;
749 const int ER_COLL_FIRST_CONTACT = 2;
750 
751 const int ER_COLL_OK = 0;
757 const int ER_COLL_ERROR = 1;
758 const int ER_COLL_HND_INVALID = 2;
759 const int ER_COLL_DETECTED = 3;
760 
765 {
766  int id1;
767  int id2;
768 };
773 {
777  long num_pairs;
779 };
780 
788 {
791  double rel_err;
792  double abs_err;
793  double distance;
794  double *p1;
795  double *p2;
796 };
797 
802 {
806  double tolerance;
807  double distance;
808  double *p1;
809  double *p2;
810 };
811 
812 //-------------------------------------------------------------------------------------------
813 // class ERK_CAPI_AUTOPATH
814 //-------------------------------------------------------------------------------------------
815 
816 const double AUTOPATH_SDK_KIN_EPSI = 0.5e-6;
817 const int AUTOPATH_SDK_KIN_DOFS = 24;
818 
819 const int AUTOPATH_SDK_AXIS_BIT_ALL = 0x0;
820 const int AUTOPATH_SDK_AXIS_BIT_1 = 0x1;
821 const int AUTOPATH_SDK_AXIS_BIT_2 = 0x2;
822 const int AUTOPATH_SDK_AXIS_BIT_3 = 0x4;
823 const int AUTOPATH_SDK_AXIS_BIT_4 = 0x8;
824 const int AUTOPATH_SDK_AXIS_BIT_5 = 0x10;
825 const int AUTOPATH_SDK_AXIS_BIT_6 = 0x20;
826 const int AUTOPATH_SDK_AXIS_BIT_7 = 0x40;
827 const int AUTOPATH_SDK_AXIS_BIT_8 = 0x80;
828 const int AUTOPATH_SDK_AXIS_BIT_9 = 0x100;
829 const int AUTOPATH_SDK_AXIS_BIT_10 = 0x200;
830 const int AUTOPATH_SDK_AXIS_BIT_11 = 0x400;
831 const int AUTOPATH_SDK_AXIS_BIT_12 = 0x800;
832 const int AUTOPATH_SDK_AXIS_BIT_13 = 0x1000;
833 const int AUTOPATH_SDK_AXIS_BIT_14 = 0x2000;
834 const int AUTOPATH_SDK_AXIS_BIT_15 = 0x4000;
835 const int AUTOPATH_SDK_AXIS_BIT_16 = 0x8000;
836 const int AUTOPATH_SDK_AXIS_BIT_17 = 0x10000;
837 const int AUTOPATH_SDK_AXIS_BIT_18 = 0x20000;
838 const int AUTOPATH_SDK_AXIS_BIT_19 = 0x40000;
839 const int AUTOPATH_SDK_AXIS_BIT_20 = 0x80000;
840 const int AUTOPATH_SDK_AXIS_BIT_21 = 0x100000;
841 const int AUTOPATH_SDK_AXIS_BIT_22 = 0x200000;
842 const int AUTOPATH_SDK_AXIS_BIT_23 = 0x400000;
843 const int AUTOPATH_SDK_AXIS_BIT_24 = 0x800000;
844 const int AUTOPATH_SDK_AXIS_BIT_DOF6 = 0x3F;
845 
846 const int AUTOPATH_SDK_OK = 0;
847 const int AUTOPATH_SDK_ERROR = 1;
849 
859 
863 
869 
872 const int AUTOPATH_SDK_RESULT_CPS = 3;
880 
884 
898 
899 const int AUTOPATH_SDK_STATUS_MP_START = 0x1000;
900 const int AUTOPATH_SDK_STATUS_MP_ABORT = 0x2000;
901 const int AUTOPATH_SDK_STATUS_MP_SUCCESS = 0x4000;
902 const int AUTOPATH_SDK_STATUS_MP_FAILURE = 0x8000;
903 const int AUTOPATH_SDK_STATUS_MP_IDLE = 0x10000;
904 const int AUTOPATH_SDK_STATUS_MP_RUNNING = 0x20000;
907 
908 //---------------------------------------------------------------
909 
910 typedef double ER_REAL_TYPE;
911 
912 const int AUTOPATH_SDK_AXIS_ROT = 0;
913 const int AUTOPATH_SDK_AXIS_TRANS = 1;
914 
916 {
917  unsigned int size;
919  int apHandle;
921 
922  int nConfig;
923  INT_PTR* deviceHandle;
925  int* AxisEnable;
928  int* AxisType;
935  UINT Accuracy;
936  void *UsrData;
938 
939 #endif
940 
941 
ER_REAL_TYPE * ConstraintMin
minimum constraint value, size nConfig
Definition: erk_capi_types.h:929
unsigned int * ER_HND
unique Kinematics handle, created with erInitKin()
Definition: erk_capi_types.h:192
const long ER_GRPSYNC_SET_OV_SPEED_RED
MoveSync, set current ov resulted from speed reduction.
Definition: erk_capi_types.h:339
const int ER_COLL_DETECTED
Result if Collision detected erColl_ChkCollision()
Definition: erk_capi_types.h:759
const long ER_COLL_QUERY_TYPE_COLLIDE
detects collision between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:744
const long ER_NOTIFY_CODE_WARN_SWE_EXCEED
Code notify warning, location ok but travel ranges are exceeded.
Definition: erk_capi_types.h:299
const long ER_FLYBY_TYPE_DISTANCE
Flyby by distance [mm].
Definition: erk_capi_types.h:461
const long ER_ONOFF_DISABLE
disable flag
Definition: erk_capi_types.h:716
const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE
Code notify error -68, Cannot calculate next step.
Definition: erk_capi_types.h:315
long ExternalTcp
IPO_MODE_BASE - enabled, IPO_MODE_TOOL - disabled
Definition: erk_capi_types.h:539
DFRAME CartPosVia
Target cartesian via position for cartesian motion ER_CIRC.
Definition: erk_capi_types.h:482
const long ER_GEO_TYPE_WEDGE
Geometry Type WEDGE, number of parameter = 7: X-length [m], Y-length [m], Height [m],...
Definition: erk_capi_types.h:218
Homogeneous 4x4 transformation matrix, a Frame with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 pos...
Definition: erk_capi_types.h:84
const int ER_MOP_GNT_OK_SUCCESS
Get Next Target, OK, next target available and valid.
Definition: erk_capi_types.h:577
const long ER_ROT_ZYpZ
Rotation Index: RotZ*RotY*RotZ b+m T1 xx8xx, Y >0 ist [0...180], COMAU C4G, Euler,...
Definition: erk_capi_types.h:734
const long ER_EVENT_CONDITION_UNDEF
event condition for binary input is undefined
Definition: erk_capi_types.h:601
const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT
Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees)
Definition: erk_capi_types.h:861
const long ER_ROT_X
Rotation Index: Rotation about x axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:722
const long ER_MAXSTR
Maximum length of a short message.
Definition: erk_capi_types.h:99
const long ER_GRPSYNC_GET_SYNC_DISCRETE
ProcSync, aks status for SyncIDDiscrete.
Definition: erk_capi_types.h:335
unsigned int * ER_TARGET_MOVE_CP_HND
unique Target data for CP Move handle
Definition: erk_capi_types.h:207
const double ER_DEG
Conversion from radiant to degree.
Definition: erk_capi_types.h:105
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:678
ER_REAL_TYPE * ConstraintMax
maximum constraint value, size nConfig
Definition: erk_capi_types.h:930
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:809
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:217
const int AUTOPATH_SDK_CHK_CONSTRAINT_START
action parameter is StartPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:886
ER_REAL_TYPE * DistanceWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:934
ER_CollisionPair * pairs
array of collided triangle pairs if num_pairs > 0
Definition: erk_capi_types.h:778
const long ER_OUPUT_FORMAT_W_ORIENTATION
desired output_format for erGET_NEXT_STEP is Cartesian ( w/orientation )
Definition: erk_capi_types.h:380
const int ER_COLL_OK
Used by all API routines upon successful completion except.
Definition: erk_capi_types.h:751
const long JNT_TYPE_TRANS
Robot Joint is prismatic.
Definition: erk_capi_types.h:681
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:756
const long IPO_MODE_BASE
Interpolation mode is w.r.t. BASE (work object)
Definition: erk_capi_types.h:691
const long ER_NOTIFY_DOMAIN_MOTION_EXEC
Domain notify level: MOTION_EXEC 401-500 Get_Next_Step.
Definition: erk_capi_types.h:291
const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST
desired output_format for erGET_NEXT_STEP is Joint angle/distance
Definition: erk_capi_types.h:379
ER_EXTAX_KIN_DATA extax_data[ER_EXTAX_KIN_DATA_MAX]
external axis data
Definition: erk_capi_types.h:447
const int INV_WARN_OK
inverse kinematics calculation successful "OK", target location is reachable
Definition: erk_capi_types.h:696
const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED
Code notify, error -17, specified motion type is not supported.
Definition: erk_capi_types.h:307
double speed_ori_value
Speed for the orientation during cartesian motion [rad/sec].
Definition: erk_capi_types.h:474
const int AUTOPATH_SDK_AXIS_BIT_DOF6
axisBit Axis 1..6
Definition: erk_capi_types.h:844
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:790
const long IPO_MODE_TOOL
Interpolation mode is w.r.t. external TCP.
Definition: erk_capi_types.h:692
#define ER_STDCALL
Definition: erk_capi_types.h:75
const long KIN_A2A3_COUPLING_UNKNOWN
Robot has no informaton about axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:710
long SyncOvSpeedReduceDiscrete
Synchronized Override Discrete 0 - stopp motion , 1 - continue motion.
Definition: erk_capi_types.h:543
const int ER_GEO_ATTRIBUTES_BBWIRE
GeoAttributes render bbox wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:232
const int AUTOPATH_SDK_AXIS_BIT_23
axisBit Axis 23
Definition: erk_capi_types.h:842
const long ER_ROT_QUAT
Rotation Index: Quaternion, ABB, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:732
const long ER_CSTEP_STATUS_UNDEF
current step status is not defined, erGetCurrentStepData()
Definition: erk_capi_types.h:509
Definition: erk_capi_types.h:439
const long ER_NOTIFY_CODE_WARN_NO_INVKIN
Code notify error, device has no inverse kinematics.
Definition: erk_capi_types.h:298
double SyncOvSpeedReduceContinuous
Synchronized Override resulted from automated Speed Reduction Continuous [0..1].
Definition: erk_capi_types.h:544
const long ER_EVENT_BOOL_ON
Event status for binary input/output events is ON.
Definition: erk_capi_types.h:595
int * AxisEnable
1-enabled, 0-disabled, size nConfig
Definition: erk_capi_types.h:925
const int ER_MOP_GNS_TOOLPATH_REACHED
Get Next Step, Final step, last toolpath target reached.
Definition: erk_capi_types.h:588
const int AUTOPATH_SDK_AXIS_BIT_17
axisBit Axis 17
Definition: erk_capi_types.h:836
const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID
Code notify error, invalid configuration.
Definition: erk_capi_types.h:297
const long ER_KIN_PASSIVE_JNTS
Maximum number of passive joints for a kinematics.
Definition: erk_capi_types.h:93
const int ER_MOP_GNS_OK_SUCCESS
Get Next Step, OK, next step is calculated successful.
Definition: erk_capi_types.h:585
const long ER_TARGET_TYPE_ABSJOINT
Target single axis motion,if motion_type = JOINT --> AbsJoint.
Definition: erk_capi_types.h:376
const int ER_MOP_GNS_ERROR
Get Next Step, Error.
Definition: erk_capi_types.h:584
long num_pairs
number of collided triangle pairs
Definition: erk_capi_types.h:777
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200
action parameter is tbd
Definition: erk_capi_types.h:895
const int ER_MOP_GNT_NO_TARGETS
Get Next Target,.
Definition: erk_capi_types.h:578
const int AUTOPATH_SDK_STATUS_MP_ABORT
AutoPath calculation aborted.
Definition: erk_capi_types.h:900
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:789
const int AUTOPATH_SDK_AXIS_BIT_ALL
axisBit Axis all
Definition: erk_capi_types.h:819
const int AUTOPATH_SDK_ALGORITHM_USER_FCT
Path Planner Algorithm: 1-User Fct.
Definition: erk_capi_types.h:860
const long ER_DOMINANT_INTERPOLATION_POS
1-dominant interpolation type, Position is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:410
const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
action parameter chk constraint for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:894
const long ER_ROT_IJK
Rotation Index: Approach Axis Vector, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:739
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:808
const int AUTOPATH_SDK_INVALID_LICENSE
Error, AutoPath not licensed.
Definition: erk_capi_types.h:848
const long ER_TARGET_TYPE_ABS
Target w.r.t object frame.
Definition: erk_capi_types.h:375
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:571
const long ER_PTP_TARGET_CALC_MODE_TURNS
PTP solution calculated using turns, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:398
const long ER_EVENT_TRIGGER_DWN
Signal Trigger to control binary output. DWN set output event to ER_EVENT_BOOL_OFF.
Definition: erk_capi_types.h:598
const long ER_ROT_IDENT
Rotation Index: Identity, erMath_Frame_Rot()
Definition: erk_capi_types.h:721
const long ER_TTTRRR_ID
Device modelled as 6 DOF Gantry TTT:RRR type.
Definition: erk_capi_types.h:360
long target_type
Target Type ER_TARGET_TYPE_ABS or ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:472
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:317
const int AUTOPATH_SDK_AXIS_BIT_20
axisBit Axis 20
Definition: erk_capi_types.h:839
Collision results for query ER_COLL_QUERY_TYPE_TOLERANCE, see erColl_GetResults_Tolerance()
Definition: erk_capi_types.h:801
double bending_angle_value
Bending angle [rad].
Definition: erk_capi_types.h:479
const double ER_RAD
Conversion from degree to radiant.
Definition: erk_capi_types.h:106
ER_REAL_TYPE * CartConstraintMax
maximum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:932
const int AUTOPATH_SDK_AXIS_ROT
Axis is rotational.
Definition: erk_capi_types.h:912
const long ER_LICENSE_PRIORITY_LOCAL
check local license first
Definition: erk_capi_types.h:272
long axis_idx
axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
Definition: erk_capi_types.h:427
long ptp_target_calculation_mode
PTP target calculation mode, ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS,...
Definition: erk_capi_types.h:452
const int AUTOPATH_SDK_OK
AutoPath method successful.
Definition: erk_capi_types.h:846
const int ER_MOP_GNTPS_CNTRL_UNDEF
Get Next Tool Path Step, undefined request.
Definition: erk_capi_types.h:563
double JointPos[ER_KIN_DOFS]
current joint position [rad,mm]
Definition: erk_capi_types.h:529
const long ER_NOTIFY_TYPE_INTERNAL_ERROR
Notify Type Level: Initial ERROR 3.
Definition: erk_capi_types.h:284
const long ER_NOTIFY_DOMAIN_FILE_IO
Domain notify level: FILE_IO 101-200.
Definition: erk_capi_types.h:288
const long ER_DOMINANT_INTERPOLATION_ORI
2-dominant interpolation type, Orientation is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:411
const long ER_ROT_ANGLE_1
Rotation Index: One Axis Angle Rotation, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:740
TErTargetID TargetID
Target ID where the notification occured, Default 0.
Definition: erk_capi_types.h:330
int initialized
1- structure is completely initialized, 0- not initialized
Definition: erk_capi_types.h:918
const long ER_SLEW
Motion Type SLEW, Async PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:393
unsigned int * ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
unique External axis data definition for Positioner/TurnTable handle
Definition: erk_capi_types.h:210
long n_dof
number of manipulator joints
Definition: erk_capi_types.h:528
int * deviceAxisIdx
Device Index of Axis, size nConfig.
Definition: erk_capi_types.h:924
const long ER_FLYBY_OFF
Flyby OFF, disabled.
Definition: erk_capi_types.h:456
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:574
const int AUTOPATH_SDK_AXIS_BIT_16
axisBit Axis 16
Definition: erk_capi_types.h:835
const long ER_DMAXSTR
Maximum length of a medium message.
Definition: erk_capi_types.h:100
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:361
const long ER_DH_ID
Device modelled with DH Denavit-Hartenberg-Transformation.
Definition: erk_capi_types.h:363
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:346
const long ER_NOTIFY_CODE_WARN_ERROR
Code notify error, ERROR.
Definition: erk_capi_types.h:300
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:310
const long JNT_CHAIN_TYPE_CHAIN
Robot Joint is in the kinematics chain.
Definition: erk_capi_types.h:687
double LagWaitTime
Lag time, after robot reaches its target.
Definition: erk_capi_types.h:449
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:639
const long ER_NOTIFY_CODE_IPO_PREP_ERROR
Code notify, praparation failed,internal error -68.
Definition: erk_capi_types.h:305
const long TRK_WND_OUT_OF_BOUNDARY
Robot outside tracking window boundary = 3;.
Definition: erk_capi_types.h:489
double SyncOvTrajScale
Synchronized Override resulted from Trajectory scaling [0..1].
Definition: erk_capi_types.h:545
const long ER_EVENT_CONDITION_WAIT_DIN_LT
event condition for binary input, wait until DIN is less than given value
Definition: erk_capi_types.h:606
const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW
current step status Wait for Tracking Window
Definition: erk_capi_types.h:513
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:506
double TrajectoryTime
Output: Calculated trajectory time in [sec].
Definition: erk_capi_types.h:446
const int ER_COLL_HND_INVALID
Error, invalid collision handle.
Definition: erk_capi_types.h:758
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80
action parameter is tbd
Definition: erk_capi_types.h:893
const long ER_GEO_TYPE_CYLINDER
Geometry Type CYLINDER, number of parameter = 9: Radius [deg], Height_1 [m], y-Scale,...
Definition: erk_capi_types.h:219
double TrajectoryTimeRemaining
current remaining time for the returned step, if 0, target reached
Definition: erk_capi_types.h:550
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:440
const int AUTOPATH_SDK_AXIS_BIT_8
axisBit Axis 8
Definition: erk_capi_types.h:827
const int INV_WARN_NO_INVKIN
ERROR kinematics has no inverse kinematics defned.
Definition: erk_capi_types.h:700
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:807
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:309
const long ER_UNIV_ROB_ID
Device modelled with universal coordinates.
Definition: erk_capi_types.h:362
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:735
const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
Enables Thread Execution: 1-on, 0-off.
Definition: erk_capi_types.h:857
const int AUTOPATH_SDK_AXIS_BIT_13
axisBit Axis 13
Definition: erk_capi_types.h:832
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,...
Definition: erk_capi_types.h:244
const int AUTOPATH_SDK_ALGORITHM_RTD_BBS
Path Planner Algorithm: 3-RTD BBS.
Definition: erk_capi_types.h:862
unsigned int * ER_TARGET_LOCATION_HND
unique Target location handle, created with erAddTargetLocation()
Definition: erk_capi_types.h:200
double JointPos[ER_KIN_DOFS]
Target joint position.
Definition: erk_capi_types.h:443
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV
Quality Index Standard Deviation, based on calculated way points.
Definition: erk_capi_types.h:879
const int ER_MOP_GNT_ERROR
Get Next Target, Error.
Definition: erk_capi_types.h:576
double segment_length
Segment length to Target location [m].
Definition: erk_capi_types.h:476
const long KIN_COUNTER_WEIGHT_YES
Robot has a counter weight.
Definition: erk_capi_types.h:713
int ThreadedExecution
1-Thread, 0-no Thread, direct function call
Definition: erk_capi_types.h:920
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:224
const long ER_DOF9
9 Degrees-of-Freedom
Definition: erk_capi_types.h:96
const long ER_OUPUT_FORMAT_JOINT_ENCODER
desired output_format for erGET_NEXT_STEP is Joint encoder
Definition: erk_capi_types.h:378
const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
Limit revolute joints in C-Space: 1-on, 0-off.
Definition: erk_capi_types.h:855
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:381
const int AUTOPATH_SDK_RESULT_CFREE
Number of CFree Checks during AutoPath calculation.
Definition: erk_capi_types.h:873
const long ER_PTP_TARGET_CALC_MODE_MATH
PTP solution calculated mathematical [-180, 180], NEXT_TARGET_DATA.
Definition: erk_capi_types.h:399
const long ER_PTP
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:391
void(ER_STDCALL * TerLogProc)(long LogType, char *LogMessage)
Callback function type definition for Log messages, erSetCallBack_LogProc()
Definition: erk_capi_types.h:623
const long ER_SYNC_OFF_TRACKING_WINDOWS_ON
device synchronization OFF while Tracking Window active, tbd
Definition: erk_capi_types.h:357
const long ER_JOINT
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:390
DFRAME * GeoMat
location of geometry w.r.t. to belonging axis ax_idx
Definition: erk_capi_types.h:260
const long ER_HS_MAXSTR
Maximum length of a huge message.
Definition: erk_capi_types.h:102
const long KIN_BACK_LINK_UNKNOWN
Robot has no informaton about Backlink.
Definition: erk_capi_types.h:706
const int ER_COLL_ERROR
Error, kernel not initialized or option not licensed.
Definition: erk_capi_types.h:757
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:337
double TrajectoryTime_nominal
nominal calculated trajectory time in [sec]
Definition: erk_capi_types.h:547
const long ER_ROT_YXZ
Rotation Index: RotY*RotX*RotZ, BOSCH, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:728
long GeoType
Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE,...
Definition: erk_capi_types.h:262
const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
Force deterministic behavior: 1-on, 0-off.
Definition: erk_capi_types.h:854
long turn_value[ER_KIN_DOFS]
Target turn values if ER_PTP_TARGET_CALC_MODE_TURNS is enabled.
Definition: erk_capi_types.h:453
const int ER_MOP_GNTPS_CNTRL_INIT
Get Next Tool Path Step, Initialize ToolPath interpolation.
Definition: erk_capi_types.h:564
double OverrideSpeed
Programmed Speed Override [0..100%].
Definition: erk_capi_types.h:542
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:114
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:572
struct _AutoPath_ConfigurationSpace AutoPath_ConfigurationSpace
const long ER_NOTIFY_DOMAIN_OK
Domain notify level: OK 0.
Definition: erk_capi_types.h:286
const int AUTOPATH_SDK_KIN_DOFS
Maximum number of configuration space (Degrees-of-Freedom for a kinematics)
Definition: erk_capi_types.h:817
const int AUTOPATH_SDK_STATUS_MP_RUNNING
AutoPath in process.
Definition: erk_capi_types.h:904
int * AxisType
one of AUTOPATH_SDK_AXIS_TYPE_ROBOT, AUTOPATH_SDK_AXIS_TYPE_TRACK, AUTOPATH_SDK_AXIS_TYPE_POSITIONER,...
Definition: erk_capi_types.h:928
const int AUTOPATH_SDK_AXIS_BIT_14
axisBit Axis 14
Definition: erk_capi_types.h:833
double ER_REAL_TYPE
Definition: erk_capi_types.h:910
int id1
identifier triangles 1st object
Definition: erk_capi_types.h:766
const long ER_NOTIFY_DOMAIN_MOTION_PREP
Domain notify level: MOTION_PREP 301-400 Set_Next_Target.
Definition: erk_capi_types.h:290
double * Scaling
xyz scaling of loaded geometry and depending on GeoType
Definition: erk_capi_types.h:259
const long ER_NOTIFY_CODE_IPO_PREP_CONFIG
Code notify, warning Cannot change configuration during LIN or CIRC move.
Definition: erk_capi_types.h:306
const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER
Axis Type External Positioner axis.
Definition: erk_capi_types.h:866
const long JNT_DIRECTION_X
Robot Joint is in X direction.
Definition: erk_capi_types.h:683
const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS
AutoPath minimize number of WayPoint.
Definition: erk_capi_types.h:905
const long ER_ROT_XYX
Rotation Index: RotX*RotY*RotX, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:730
const long ER_SYNC_ON
device synchronization ON
Definition: erk_capi_types.h:354
const int ER_GEO_ATTRIBUTES_FLAT
GeoAttributes render flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:235
const int AUTOPATH_SDK_AXIS_BIT_11
axisBit Axis 11
Definition: erk_capi_types.h:830
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START
Code notify warning, Start Speed reduction.
Definition: erk_capi_types.h:312
Definition: erk_capi_types.h:522
double rel_err
the relative error margin from actual distance
Definition: erk_capi_types.h:791
Collision results for query ER_COLL_QUERY_TYPE_COLLIDE, see erColl_GetResults_Collide() .
Definition: erk_capi_types.h:772
const int AUTOPATH_SDK_AXIS_BIT_15
axisBit Axis 15
Definition: erk_capi_types.h:834
const int INV_WARN_SINGULAR
Warning: Target location is reachable, but location is in singularity.
Definition: erk_capi_types.h:697
const long ER_SPEED_REDUCTION_DISABLE
Speed reduction is disabled.
Definition: erk_capi_types.h:388
const long ER_EVENT_TRIGGER_UP
Signal Trigger to control binary output. UP set output event to ER_EVENT_BOOL_ON.
Definition: erk_capi_types.h:599
const int AUTOPATH_SDK_PARAMETER_ALGORITHM
Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS.
Definition: erk_capi_types.h:851
const long ER_DOMINANT_INTERPOLATION_AUTO
4-dominant interpolation type, Automatic (the slowest one is leading), erSELECT_DOMINANT_INTERPOLATIO...
Definition: erk_capi_types.h:413
char Configuration[ER_MAXSTR]
Manipulator configuration string.
Definition: erk_capi_types.h:498
const long ER_CSTEP_STATUS_OK
current step status is OK, erGetCurrentStepData()
Definition: erk_capi_types.h:511
unsigned int * ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
unique External axis data definition for Track/Slider handle
Definition: erk_capi_types.h:209
const long KIN_BACK_LINK_NO
Robot has no Backlink.
Definition: erk_capi_types.h:704
const int ER_EVENT_BOOL_N
Number of boolean events for binary inputs/outputs.
Definition: erk_capi_types.h:591
const int INV_WARN_UNREACH
inverse kinematics calculation failed, target location is unreachable
Definition: erk_capi_types.h:698
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:223
const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF
action parameter is undefined for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:885
const long ER_CSTEP_STATUS_ERROR
current step status is ERROR, erGetCurrentStepData()
Definition: erk_capi_types.h:510
struct _NEXT_TARGET_DATA NEXT_TARGET_DATA
const int AUTOPATH_SDK_AXIS_BIT_4
axisBit Axis 4
Definition: erk_capi_types.h:823
double TrajectoryTimeDelay
current trajectory time delay, >0 in case robot speed reductions
Definition: erk_capi_types.h:551
const int ER_GEO_ATTRIBUTES_SHOW_MESH
GeoAttributes geometry visualized meshes, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:240
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:477
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:524
const int ER_GEO_ATTRIBUTES_SHOW_EDGES
GeoAttributes geometry visualized edges, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:241
const long ER_MOTION_FILTER_GEO
Motion filter set to geometric velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:384
long GeoSizeParameterNum
Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType.
Definition: erk_capi_types.h:264
const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
Thread priority: 0-normal, 1-low, 2-high.
Definition: erk_capi_types.h:856
const long ER_FLYBY_TYPE_SPEED
Flyby by speed [%].
Definition: erk_capi_types.h:460
const int ER_GEO_ATTRIBUTES_SMOOTH
GeoAttributes render smooth, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:229
const int ER_MOP_GNTPS_CNTRL_NEXT_STEP
Get Next Tool Path Step, Calculate one interpolation step.
Definition: erk_capi_types.h:566
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:239
const long ER_NOTIFY_CODE_WARN_UNREACH
Code notify error, location unsrechable.
Definition: erk_capi_types.h:296
TErTrackingWindowID TrackingWindowID
unique tracking window identifier
Definition: erk_capi_types.h:505
unsigned int * ER_TARGET_EVENTS_HND
unique Events handle
Definition: erk_capi_types.h:203
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP
Code notify warning, Stop Speed reduction.
Definition: erk_capi_types.h:313
const long ER_NOTIFY_CODE_WARN_SINGULAR
Code notify warning, robot in singularity.
Definition: erk_capi_types.h:295
long SyncIDDiscrete
Handle for ProcSync.
Definition: erk_capi_types.h:450
int apHandle
individual handle, currently not used
Definition: erk_capi_types.h:919
long AdvanceParam
1 valid data specified, 0 no data specified, 2 initializes and set default data
Definition: erk_capi_types.h:469
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:419
const int ER_MOP_SNT_OK_SUCCESS
Set Next Target, OK, next target prepared successful.
Definition: erk_capi_types.h:581
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:669
const double ER_m2mm
Conversion from [mm] to [m].
Definition: erk_capi_types.h:108
const long JNT_DIRECTION_Y
Robot Joint is in Y direction.
Definition: erk_capi_types.h:684
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:504
char Configuration[ER_MAXSTR]
Target manipulator configuration string.
Definition: erk_capi_types.h:444
double abs_err
the absolute error margin from actual distance
Definition: erk_capi_types.h:792
const long ER_GEO_TYPE_CUBE
Geometry Type CUBE, number of parameter = 3: X-length [m], Y-length [m], Height [m],...
Definition: erk_capi_types.h:216
const int ER_APIDLL_CNTRL_SIM_STOP
Calling status for API-DLL, Stop indicates that the simulation is aborted.
Definition: erk_capi_types.h:115
const long ER_CSTEP_STATUS_IPO_IN_POSITION
current step status Robot already in Position
Definition: erk_capi_types.h:514
unsigned int * ER_TARGET_ATTRIBUTES_HND
unique Motion attributes handle
Definition: erk_capi_types.h:205
const int AUTOPATH_SDK_RESULT_DSECONDS
Elapsed time in deciseconds (1/10) for AutoPath calculation.
Definition: erk_capi_types.h:876
const long ER_PTP_TARGET_CALC_MODE_UNDEF
default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, NEXT_TARGET_DATA
Definition: erk_capi_types.h:396
const int ER_MOP_GNTPS_CNTRL_TBD_08
tbd
Definition: erk_capi_types.h:567
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,...
Definition: erk_capi_types.h:246
double TrajectoryTime
current trajectory time
Definition: erk_capi_types.h:548
const long KIN_A2A3_COUPLING_NO
Robot has no axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:708
const long ER_FLYBY_ON
Flyby ON, enabled.
Definition: erk_capi_types.h:457
DFRAME CartPos
Target cartesian position for cartesian motion or joint motion with target type ER_TARGET_TYPE_ABS.
Definition: erk_capi_types.h:481
const int AUTOPATH_SDK_AXIS_BIT_10
axisBit Axis 10
Definition: erk_capi_types.h:829
const long ER_GEO_PARAMETER_MAX
Maximum number of reserved geometry parameter, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:226
long n_dof_external
number of external manipulator joints
Definition: erk_capi_types.h:533
const int AUTOPATH_SDK_STATUS_MP_IDLE
AutoPath is idle.
Definition: erk_capi_types.h:903
int * AxisRotTrans
Rotary Axis = AUTOPATH_SDK_AXIS_ROT, Translatory Axis = AUTOPATH_SDK_AXIS_TRANS, size nConfig.
Definition: erk_capi_types.h:927
const long ER_MOTION_FILTER_C2
Motion filter set to c2-velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:385
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:630
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:327
double ElapsedTime
Output: Elapsed time for the returned step, if 0, no valid step is returned.
Definition: erk_capi_types.h:499
DFRAME CartPos
Cartesian position.
Definition: erk_capi_types.h:496
const long ER_EXTAX_KIN_DATA_MAX
Maximum number of external axis data.
Definition: erk_capi_types.h:432
const int AUTOPATH_SDK_AXIS_BIT_9
axisBit Axis 9
Definition: erk_capi_types.h:828
const int AUTOPATH_SDK_AXIS_TYPE_AUX
Axis Type Aux Axis.
Definition: erk_capi_types.h:868
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:278
struct _CURRENT_STEP_DATA CURRENT_STEP_DATA
unsigned int size
sizeof this structure
Definition: erk_capi_types.h:917
long GeoAttributeParameterNum
Number of geometry attribute parameter in GeoAttributeParameter.
Definition: erk_capi_types.h:266
const int AUTOPATH_SDK_AXIS_BIT_3
axisBit Axis 3
Definition: erk_capi_types.h:822
const int AUTOPATH_SDK_RESULT_CPS
Number of Check per seconds for AutoPath calculation.
Definition: erk_capi_types.h:872
const long ER_EVENT_TRIGGER_OFF
Signal Trigger to control binary output. OFF will not set output event.
Definition: erk_capi_types.h:597
const long ER_GRPSYNC_SET_DURATION
MoveSync, set duration of calculated motion time for current move.
Definition: erk_capi_types.h:336
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:415
char * GeoName
name of loaded geometry
Definition: erk_capi_types.h:257
long TargetParam
0 unused (only position data are valid), 1 radius, 2 angle, 3 distance
Definition: erk_capi_types.h:441
const int ER_GEO_ATTRIBUTES_BBFLAT
GeoAttributes render bbox flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:231
DFRAME CartPos
Target cartesian position.
Definition: erk_capi_types.h:442
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED
Code notify warning, maximum joint speed exceeded.
Definition: erk_capi_types.h:319
const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
Minimize number of WayPoints: 1-on, 0-off.
Definition: erk_capi_types.h:853
const long ER_EVENT_BOOL_UNDEF
Event status for binary input/output events is undefined.
Definition: erk_capi_types.h:593
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:194
const long KIN_BACK_LINK_YES
Robot has a Backlink.
Definition: erk_capi_types.h:705
const int ER_GEO_ATTRIBUTES_VERTICES
GeoAttributes render vertices, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:234
const long ER_COLL_QUERY_TYPE_DISTANCE
computes the minimum distance between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:745
long GeoAttributes
Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVE...
Definition: erk_capi_types.h:263
double TargetParamValue
= 2, for radiants
Definition: erk_capi_types.h:445
const int ER_MOP_SNT_NEED_MORE_DATA
Set Next Target, Need more data to prepare next motion.
Definition: erk_capi_types.h:582
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:238
long NumberofMessages
Specifies the number of messages, tbd.
Definition: erk_capi_types.h:502
const int ER_MOP_GNTPS_CNTRL_TERMINATE
Get Next Tool Path Step, Terminate ToolPath interpolation.
Definition: erk_capi_types.h:565
const long ER_DOF_QUAT
Quaternion vector length.
Definition: erk_capi_types.h:95
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:471
const int AUTOPATH_SDK_PARAMETER_DYNADJUST
Dynamic adjust Accuracy: 1-on, 0-off.
Definition: erk_capi_types.h:850
DFRAME CartPosRBase
current cartesian TCP position w.r.t. Robot Base
Definition: erk_capi_types.h:527
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:243
const int ER_MOP_GNS_NEED_MORE_DATA
Get Next Step, Final step, target reached.
Definition: erk_capi_types.h:586
const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED
Code notify error, cannot find a valid configuration.
Definition: erk_capi_types.h:301
int nConfig
complete configuration space, length of each vector, maximum size AUTOPATH_SDK_KIN_DOFS
Definition: erk_capi_types.h:922
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:774
const int AUTOPATH_SDK_RESULT_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:877
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:500
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:775
const long ER_FLYBY_TYPE_UNDEF
Flyby is not active = 0.
Definition: erk_capi_types.h:459
const int AUTOPATH_SDK_AXIS_BIT_22
axisBit Axis 22
Definition: erk_capi_types.h:841
const int INV_WARN_CNFG
ERROR calulating inverse solution for current robot configuration.
Definition: erk_capi_types.h:699
const long ER_LOG_TYPE_MSG
simple Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:276
ER_REAL_TYPE * CartConstraintMin
minimum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:931
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:416
const long TRK_WND_WAITING
Robot is waiting for Tracking window = 1.
Definition: erk_capi_types.h:487
DFRAME CartPos
initial robot cartesian position w.r.t robot base
Definition: erk_capi_types.h:370
const int AUTOPATH_SDK_AXIS_BIT_12
axisBit Axis 12
Definition: erk_capi_types.h:831
const int AUTOPATH_SDK_AXIS_BIT_19
axisBit Axis 19
Definition: erk_capi_types.h:838
const long ER_CIRC
Motion Type CIRC circular motion using via point, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:394
double * GeoSizeParameter
Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX.
Definition: erk_capi_types.h:265
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:793
UINT Accuracy
[1..100]
Definition: erk_capi_types.h:935
const int AUTOPATH_SDK_AXIS_TYPE_TRACK
Axis Type External Track axis.
Definition: erk_capi_types.h:865
const int ER_COLL_FIRST_CONTACT
report first intersecting tri pair found, erColl_ChkCollision()
Definition: erk_capi_types.h:749
const int AUTOPATH_SDK_STATUS_MP_START
AutoPath calculation started.
Definition: erk_capi_types.h:899
const long KIN_COUNTER_WEIGHT_UNKNOWN
Robot has no information about counter weight.
Definition: erk_capi_types.h:714
const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION
action parameter is Collision for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:888
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:754
const int ER_GEO_ATTRIBUTES_WIRE
GeoAttributes render wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:230
void * TErExtraData
additional notification data, tbd, TerNotifyProc()
Definition: erk_capi_types.h:333
const long ER_SYNC_UNDEF
device synchronization not defined
Definition: erk_capi_types.h:352
double SpeedReduce
If speed_reduction is enabled [0.0005..1], erSetSpeedReductionEnable()
Definition: erk_capi_types.h:541
const long ER_EVENT_BOOL_OFF
Event status for binary input/output events is OFF.
Definition: erk_capi_types.h:594
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:281
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:111
const long ER_DOF6
6 Degrees-of-Freedom
Definition: erk_capi_types.h:94
double PathLengthRemaining
Remaining path length until target reached.
Definition: erk_capi_types.h:555
const long ER_LS_MAXSTR
Maximum length of a long message.
Definition: erk_capi_types.h:101
const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED
current step status Robot motion was stopped
Definition: erk_capi_types.h:515
const int AUTOPATH_SDK_AXIS_BIT_24
axisBit Axis 24
Definition: erk_capi_types.h:843
const long ER_EVENT_CONDITION_WAIT_DIN_GT
event condition for binary input, wait until DIN is greater than given value
Definition: erk_capi_types.h:604
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:794
const int AUTOPATH_SDK_AXIS_BIT_21
axisBit Axis 21
Definition: erk_capi_types.h:840
unsigned int TErTargetID
unique Target identifier
Definition: erk_capi_types.h:195
TErGeoHandle GeoHandle
unique geometry handle created by host application
Definition: erk_capi_types.h:255
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:406
const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT
GeoAttributes geometry visualized transparent, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:242
const int AUTOPATH_SDK_AXIS_BIT_2
axisBit Axis 2
Definition: erk_capi_types.h:821
sets the robot model to a position according to the input data. Usage with erSET_INITIAL_POSITION()
Definition: erk_capi_types.h:369
unsigned int * ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
unique External device definition for Conveyor
Definition: erk_capi_types.h:211
const long ER_ROT_ZYZ
Rotation Index: RotZ*RotY*RotZ, Staeubli CS7, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:729
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:752
const long ER_RRRRRR_ID
Device modelled as fixed articulated RRR:RRR type, such as Manutec.
Definition: erk_capi_types.h:359
A pair of two colliding triangles, see erColl_GetResults_Collide()
Definition: erk_capi_types.h:764
const int ER_GEO_ATTRIBUTES_UNDEF
GeoAttributes undefined, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:228
const long TRK_WND_NOT_ACTIVE
Tracking window is not active = 0.
Definition: erk_capi_types.h:486
const long ER_SYNC_CONVEYOR
device synchronization for track motion with Conveyor, tbd
Definition: erk_capi_types.h:355
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:906
double speed_value
Speed for cartesian motion [m/sec].
Definition: erk_capi_types.h:473
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:405
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,...
Definition: erk_capi_types.h:245
const long ER_NOTIFY_DOMAIN_GLOBAL
Domain notify level: GLOBAL 1-100.
Definition: erk_capi_types.h:287
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX
Quality Index based on calculated way points.
Definition: erk_capi_types.h:878
const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE
PTP solution calculated by shortest angle, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:397
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:400
unsigned int * ER_TOOLPATH_HND
unique Tool path handle, created with erInitToolPath()
Definition: erk_capi_types.h:199
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400
action parameter is tbd
Definition: erk_capi_types.h:896
const int AUTOPATH_SDK_AXIS_BIT_6
axisBit Axis 6
Definition: erk_capi_types.h:825
const int AUTOPATH_SDK_STATUS_MP_FAILURE
AutoPath calculation failed.
Definition: erk_capi_types.h:902
double value
bool, Duration, DurationMax, OverrideMin, Override
Definition: erk_capi_types.h:348
const int ER_MOP_GNS_TARGET_REACHED
Get Next Step, Need more data, nothing to do.
Definition: erk_capi_types.h:587
const int AUTOPATH_SDK_AXIS_BIT_7
axisBit Axis 7
Definition: erk_capi_types.h:826
const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE
action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:889
const int AUTOPATH_SDK_CONSTRAINT_RESET
Reset Constraints to min. and max. travel ranges.
Definition: erk_capi_types.h:881
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:418
long ax_idx
axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints
Definition: erk_capi_types.h:261
const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST
action parameter is DestPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:887
double PathLengthMoving
moving path length, since motion starts
Definition: erk_capi_types.h:554
const long ER_LIN
Motion Type LIN linear motion, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:392
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:803
const long ER_LOG_TYPE_WARNING
warning Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:277
const int AUTOPATH_SDK_RESULT_SECONDS
Elapsed time in seconds for AutoPath calculation.
Definition: erk_capi_types.h:871
long step_number
counts the number of get next step
Definition: erk_capi_types.h:525
TErTrackingWindowID TrackingWindowID
unique target identifier for Tracking Window
Definition: erk_capi_types.h:537
const int AUTOPATH_SDK_AXIS_TYPE_ROBOT
Axis Type Robot axis.
Definition: erk_capi_types.h:864
long NumberOfEvents
Specifies the number of events, tbd.
Definition: erk_capi_types.h:501
const long ER_NOTIFY_CODE_OK
Code notify level: OK 0.
Definition: erk_capi_types.h:293
const int ER_APIDLL_CNTRL_SIM_START
Calling status for API-DLL, Start indicates that the simulation starts.
Definition: erk_capi_types.h:113
const long ER_AUTOACCEL_MODE_OFF
0 no auto accel calculation, erSetAutoAccel()
Definition: erk_capi_types.h:403
const long ER_LOG_TYPE_CONSOLE
Log Message output to console window.
Definition: erk_capi_types.h:275
INT_PTR * deviceHandle
Unique device handle an axis belongs to, size nConfig.
Definition: erk_capi_types.h:923
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED
Code notify warning, maximum joint acceleration exceeded.
Definition: erk_capi_types.h:320
struct _NEXT_STEP_DATA NEXT_STEP_DATA
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:804
const int ER_APIDLL_CNTRL_UNDEF
Calling status for API-DLL is undefined.
Definition: erk_capi_types.h:110
const int AUTOPATH_SDK_RESULT_COBSTACLE
Number of CObstacle Checks during AutoPath calculation.
Definition: erk_capi_types.h:874
const long TRK_WND_INSIDE
Robot is inside Tracking window = 2;.
Definition: erk_capi_types.h:488
const int INV_WARN_ERROR
ERROR in inverse kinematics calculation.
Definition: erk_capi_types.h:695
long closer_than_tolerance
0- >tolerance, 1- <= tolerance
Definition: erk_capi_types.h:805
const long KIN_COUNTER_WEIGHT_NO
Robot has no counter weight.
Definition: erk_capi_types.h:712
const long ER_EVENT_CONDITION_WAIT_DIN_LE
event condition for binary input, wait until DIN is less or equal given value
Definition: erk_capi_types.h:607
const long JNT_TYPE_ROT
Robot Joint is rotational.
Definition: erk_capi_types.h:680
const long ER_LICENSE_PRIORITY_DEFAULT
check Lmngr license first
Definition: erk_capi_types.h:273
unsigned int * Host_HND
unique Host handle given from Host, NULL per default, erInitKin()
Definition: erk_capi_types.h:193
const long JNT_CHAIN_TYPE_NO_CHAIN
Robot Joint is NOT in the kinematics chain.
Definition: erk_capi_types.h:688
const long ER_ROT_Z9XZ
Rotation Index: RotZ*RotX*RotZ,b+m T1 xx5xx, [-90..+90] [-180..+180] [-180..+180],...
Definition: erk_capi_types.h:737
Group synchronization data structure Used with callback function TerGrpSyncProc()
Definition: erk_capi_types.h:345
const long ER_LICENSE_PRIORITY_UNDEF
license priority not defined
Definition: erk_capi_types.h:270
const long ER_CSTEP_STATUS_VIA_POINT
current step status ViaPoint is set, waiting for CIRC Target
Definition: erk_capi_types.h:512
double LeadWaitTime
Leading time, before move will start.
Definition: erk_capi_types.h:448
const long ER_ROT_XYZ
Rotation Index: RotX*RotY*RotZ, EASY-ROB, Staeubli CS8, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:726
ER_REAL_TYPE * SpeedWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:933
const long ER_ROT_RPY
Rotation Index: Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso, erMath_VecToFrameIdx(),...
Definition: erk_capi_types.h:731
Collision results for query ER_COLL_QUERY_TYPE_DISTANCE, see erColl_GetResults_Distance() The followi...
Definition: erk_capi_types.h:787
const long ER_AUTOACCEL_MODE_ON
all accel calculation enabled, erSetAutoAccel()
Definition: erk_capi_types.h:408
const int AUTOPATH_SDK_AXIS_BIT_18
axisBit Axis 18
Definition: erk_capi_types.h:837
char * FileName
file name geometetry file to be loaded
Definition: erk_capi_types.h:256
const long ER_ROT_Z9XY
Rotation Index: RotZ*RotX*RotY,b+m T1 xx6xx, [-90..+90] [-180..+180] [-180..+180],...
Definition: erk_capi_types.h:736
double PathLength
complete path length of current motion
Definition: erk_capi_types.h:553
const long ER_NOTIFY_TYPE_ERROR
Notify Type Level: ERROR 2.
Definition: erk_capi_types.h:283
const long ER_AUTOACCEL_MODE_POS
1-auto accel calculation for position ax,axe = f(vx), erSetAutoAccel()
Definition: erk_capi_types.h:404
const long JNT_DIRECTION_Z
Robot Joint is in Z direction.
Definition: erk_capi_types.h:685
double DistanceRemaining
Remaining euclidean distance until target reached.
Definition: erk_capi_types.h:559
const long ER_KIN_CONFIGS
Maximum number of possible robot configurations.
Definition: erk_capi_types.h:91
long current_step_status
current step status, as a bitwise inclusive OR operator (|) ER_CSTEP_STATUS_OK, .....
Definition: erk_capi_types.h:523
int id2
identifier triangles 2nd object
Definition: erk_capi_types.h:767
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:222
unsigned int * ER_TARGET_INSTRUCTIONS_HND
Instructions, individual information text.
Definition: erk_capi_types.h:202
Geometry data structure for callback function. Used when loading and updating robot geometries With c...
Definition: erk_capi_types.h:254
const long KIN_A2A3_COUPLING_YES
Robot has axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:709
const long ER_ONOFF_ENABLE
enable flag
Definition: erk_capi_types.h:717
unsigned int * ER_COLLISION_HND
unique Collision handle, created with erColl_BeginModel()
Definition: erk_capi_types.h:197
long(ER_STDCALL * TerFreeGeometryProc)(ER_HND ErHandle, TErGeoHandle GeoHandle)
Callback function type definition to free or delete a geometry, erSetCallBack_FreeGeometryProc()....
Definition: erk_capi_types.h:648
const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE
Code notify, error -78. Cannot prepare motion.
Definition: erk_capi_types.h:308
void * UsrData
User defined data.
Definition: erk_capi_types.h:936
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:795
long Configuration
current manipulator configuration [1..
Definition: erk_capi_types.h:535
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:417
double JointAcc[ER_KIN_DOFS]
current joint acceleration [rad/s^2,mm/s^2]
Definition: erk_capi_types.h:531
const long ER_GEO_TYPE_SPHERE
Geometry Type SPHERE, number of parameter = 5: Radius [deg], y-Scale, Angle [deg],...
Definition: erk_capi_types.h:221
const int AUTOPATH_SDK_STATUS_MP_SUCCESS
AutoPath calculation successful.
Definition: erk_capi_types.h:901
const long ER_NOTIFY_DOMAIN_KIN_CALC
Domain notify level: KIN_CALC 201-300.
Definition: erk_capi_types.h:289
const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR
Code notify warning -1059, Cartesian position is singular.
Definition: erk_capi_types.h:318
double Distance
Euclidean distance between cartesian start and target position.
Definition: erk_capi_types.h:557
const int ER_GEO_ATTRIBUTES_INVISIBLE
GeoAttributes render invisible, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:233
const int AUTOPATH_SDK_CONSTRAINT_MAX
Set ConstraintMax.
Definition: erk_capi_types.h:883
unsigned int * ER_TARGET_MOVE_JOINT_HND
unique Target data for Joint Move handle
Definition: erk_capi_types.h:206
double speed_value
Target speed [m/s,rad/s].
Definition: erk_capi_types.h:429
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:875
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40
action parameter is tbd
Definition: erk_capi_types.h:892
double JointPosExtAx[ER_EXTAX_KIN_DATA_MAX]
current external axis joint position [rad,mm]
Definition: erk_capi_types.h:534
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20
action parameter is tbd
Definition: erk_capi_types.h:891
Definition: erk_capi_types.h:495
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:573
double DistanceMoving
moving euclidean distance, since motion starts
Definition: erk_capi_types.h:558
const int AUTOPATH_SDK_ERROR
Error in AutoPath method.
Definition: erk_capi_types.h:847
const int ER_GEO_ATTRIBUTES_INVERT
GeoAttributes geometry visualized inverted 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:236
long Turns[ER_KIN_DOFS]
current turn values depending on joint position and defined turn interval
Definition: erk_capi_types.h:532
unsigned int TErTrackingWindowID
unique TrackingWindow identifier
Definition: erk_capi_types.h:196
const long ER_ONOFF_STATUS
request current flag status, result ER_ONOFF_DISABLE, ER_ONOFF_ENABLE
Definition: erk_capi_types.h:718
int NotificationDomain
ER_NOTIFY_DOMAIN_OK, ER_NOTIFY_DOMAIN_GLOBAL, ER_NOTIFY_DOMAIN_FILE_IO, ER_NOTIFY_DOMAIN_KIN_CALC,...
Definition: erk_capi_types.h:328
double * GeoAttributeParameter
Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]),...
Definition: erk_capi_types.h:267
const long ER_KIN_DOFS
Maximum number of Degrees-of-Freedom for a kinematics.
Definition: erk_capi_types.h:92
const int AUTOPATH_SDK_AXIS_TYPE_EXTERN
Axis Type other external Axis.
Definition: erk_capi_types.h:867
int NotificationCode
Notify code ER_NOTIFY_CODE_WARN_*, ER_NOTIFY_CODE_IPO_*.
Definition: erk_capi_types.h:329
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:569
const int AUTOPATH_SDK_PARAMETER_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:858
Definition: erk_capi_types.h:468
const long ER_EVENT_CONDITION_WAIT_DIN_GE
event condition for binary input, wait until DIN is greater or equal given value
Definition: erk_capi_types.h:605
long SyncIDDiscCont
relevant SyncID
Definition: erk_capi_types.h:347
const long JNT_CHAIN_TYPE_SEP_NO_CHAIN
Robot Joint is separated & NOT in the kinematics chain.
Definition: erk_capi_types.h:689
const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE
action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:890
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:303
Notify data structure Used with callback function TerNotifyProc()
Definition: erk_capi_types.h:326
const int AUTOPATH_SDK_CONSTRAINT_MIN
Set ConstraintMin.
Definition: erk_capi_types.h:882
double JointPos[ER_KIN_DOFS]
Joint position.
Definition: erk_capi_types.h:497
const int AUTOPATH_SDK_AXIS_BIT_1
axisBit Axis 1
Definition: erk_capi_types.h:820
const int AUTOPATH_SDK_AXIS_TRANS
Axis is translational.
Definition: erk_capi_types.h:913
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:220
const long ER_COLL_QUERY_TYPE_UNDEF
no collision check
Definition: erk_capi_types.h:743
unsigned int * ER_TARGET_HEAD_HND
unique Header data handle
Definition: erk_capi_types.h:201
const long ER_DOF12
12 Degrees-of-Freedom
Definition: erk_capi_types.h:97
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:316
long RGBColor
color value of loaded geometry
Definition: erk_capi_types.h:258
const long ER_ROT_ZYX
Rotation Index: RotZ*RotY*RotX, KUKA, Reis, Kobelco, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:727
const long ER_DIM
3 Dimensions
Definition: erk_capi_types.h:98
const long ER_EVENT_CONDITION_WAIT_DIN_UNSET
event condition for binary input, wait until DIN is ER_EVENT_BOOL_OFF
Definition: erk_capi_types.h:603
const long ER_SYNC_VR_OFF
device synchronization, tbd
Definition: erk_capi_types.h:356
long SyncIDContinuous
Handle for MotionSync.
Definition: erk_capi_types.h:451
const long ER_SPEED_REDUCTION_ENABLE
Speed reduction is enabled.
Definition: erk_capi_types.h:387
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:382
Definition: erk_capi_types.h:915
const long ER_COLL_QUERY_TYPE_TOLERANCE
checks if distance between PQP_Models is <= tolerance, erColl_ChkCollision()
Definition: erk_capi_types.h:746
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800
action parameter is tbd
Definition: erk_capi_types.h:897
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:237
double axis_value
Target value [m,rad].
Definition: erk_capi_types.h:428
ER_HND er_hnd_connect
Handle of connected device.
Definition: erk_capi_types.h:426
double JointPos[ER_KIN_DOFS]
Target joint position for joint motion and target type ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:483
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:755
const long ER_DOMINANT_INTERPOLATION_AXIS
3-dominant interpolation type, Axis is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:412
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:538
const double ER_PI
PI.
Definition: erk_capi_types.h:104
TErTargetID TargetID
Identifier of the target, 0 no identifier givin, >0 identifier of this target.
Definition: erk_capi_types.h:470
int * AxisPriority
[1..50..100], size nConfig
Definition: erk_capi_types.h:926
const long ER_EVENT_CONDITION_WAIT_DIN_SET
event condition for binary input, wait until DIN is ER_EVENT_BOOL_ON
Definition: erk_capi_types.h:602
long TargetPosSet
0x0 - not set, 0x1 - CartPos, 0x2 - CartPosVia, 0x4 - JointPos
Definition: erk_capi_types.h:480
const long ER_ROT_Z
Rotation Index: Rotation about z axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:724
double JointVel[ER_KIN_DOFS]
current joint speed [rad/s,mm/s]
Definition: erk_capi_types.h:530
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:112
double joint_speed_percent
Joint speed percentage [1%..200%] for joint motion.
Definition: erk_capi_types.h:475
double TrajectoryTime
resulted trajectory time
Definition: erk_capi_types.h:503
const long ER_LICENSE_PRIORITY_LMNGR
check Lmngr license first
Definition: erk_capi_types.h:271
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:738
const int INV_WARN_SWE_EXCEED
Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges a...
Definition: erk_capi_types.h:701
unsigned int * ER_TARGET_MOTION_EXEC_HND
unique handle for motion execution data at target
Definition: erk_capi_types.h:208
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:536
const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN
MoveSync, get min ov of all robots in KIR group.
Definition: erk_capi_types.h:338
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:753
double flyby_value
Flyby or zone value, depending on flyby type as percentage value [0%..100%], or distance [mm].
Definition: erk_capi_types.h:478
double tolerance
givin tolerance value
Definition: erk_capi_types.h:806
long num_pairs_alloced
current number of allocated pairs
Definition: erk_capi_types.h:776
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:304
const int ER_GEO_ATTRIBUTES_DEFAULT
GeoAttributes default settings.
Definition: erk_capi_types.h:247
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:659
const int ER_COLL_ALL_CONTACTS
find all pairwise intersecting triangles, erColl_ChkCollision()
Definition: erk_capi_types.h:748
const long ER_CSTEP_STATUS_INV_WARNING
current step status Inverse Kinematics with warnings
Definition: erk_capi_types.h:516
const int AUTOPATH_SDK_AXIS_BIT_5
axisBit Axis 5
Definition: erk_capi_types.h:824
DFRAME CartPos
current cartesian TCP position w.r.t. Work Object
Definition: erk_capi_types.h:526
const double AUTOPATH_SDK_KIN_EPSI
epsi
Definition: erk_capi_types.h:816
const long ER_NOTIFY_TYPE_WARNING
Notify Type Level: Warning 1.
Definition: erk_capi_types.h:282
const long ER_ROT_CA
Rotation Index: Tricept C-RotZ, A-RotX, NC, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:733
const int AUTOPATH_SDK_RESULT_CHECKS
Number of Checks during AutoPath calculation.
Definition: erk_capi_types.h:870
Definition: erk_capi_types.h:425
const long ER_LOG_TYPE_STATUS
status Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:279
const long ER_SYNC_OFF
device synchronization OFF
Definition: erk_capi_types.h:353
const double ER_mm2m
Conversion from [m] to [mm].
Definition: erk_capi_types.h:107
const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG
PTP solution calculated by variable configuration, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:401
const long ER_NOTIFY_CODE_IPO_EXEC_ERROR
Code notify internal error -68, stop Get_Next_Step.
Definition: erk_capi_types.h:314
const int AUTOPATH_SDK_PARAMETER_NTREES
Number of Trees [2..32].
Definition: erk_capi_types.h:852
const long ER_AUTOACCEL_MODE_DEF
Default: auto accel calculation for position and orientation, erSetAutoAccel()
Definition: erk_capi_types.h:407
unsigned int * ER_TARGET_ATTRIBUTES_AUX_HND
unique Auxiliary motion attributes handle
Definition: erk_capi_types.h:204
double TrajectoryTimeMoving
current moving time, since motion starts
Definition: erk_capi_types.h:549
const int ER_MOP_SNT_ERROR
Set Next Target, Error.
Definition: erk_capi_types.h:580
const long ER_ROT_Y
Rotation Index: Rotation about y axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:723