doc/erk_capi/erk__capi__types_8h_source.html

 /*
         EASY-ROB Robotics Simulation Kernel

         EASY-ROB Software GmbH

         Copyright (c) 1996 - 2023

         Date:           APR 2023
         Version:        8.606

         Header file
                 erk_capi_types.h

         Autor
                 EASY-ROB Software GmbH

         Versions
                 v6303   nov 2013
                 v6306   may 2014
                 v6307   aug 2014
                 v6310   dec 2014
                 v6601   jan 2015
                 v6603   feb 2015
                 v6604   mar 2015
                 v6606   jul 2015
                 v6608   jul 2015 VS 2012
                 v6609   jul 2015 erColl_ChkCollision_res() thread save
                 v6610   sep 2015 erColl_ChkCollision_res_free()
                 v6611   dec 2015 Support ER_MOTION_FILTER_GEO for external axis
                 v6612   jan 2916 BugFix MultiKIN Option, erGet_n_Kin_IR()
                 v7001   mar 2016 Major Release, MatrixLock
                 v7002   jun 2016
                 v7003   jul 2016 0-DOF Devices
                 v7004   aug 2016
                 v7005   sep 2016
                 v7302   apr 2017
                 v7305   sep 2017
                 v7306   dec 2017
                 v7309   mar 2018
                 v7601   apr 2018
                 v7602   may 2018 API PostProc
                 v7603   jul 2018
                 v7606   nov 2018
                 v7607   feb 2019 autopath
                 v8001   aug 2019
                 v8003   sep 2019
                 v8004   dec 2019
                 v8005   feb 2020
                 v8006   may 2020
                 v8007   jun 2020
                 v8301   jul 2020
                 v8307   jul 2021
                 v8308   nov 2021
                 v8602   mar 2022 Pre Release
                 v8603   aug 2022 Pre Release
                 v8604   sep 2022 Pre Release
                 v8605   oct 2022 Pre Release
                 v8606   apr 2023 BugFix loc_FreeGrp(()
 */

 #ifndef _erk_capi_types_h
 #define _erk_capi_types_h

 #ifdef _WIN32
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Windows
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 //
 #define DLLAPI __declspec(dllexport)
 #define ER_STDCALL __stdcall

 #else
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Linux
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 //
 #define DLLAPI
 #define ER_STDCALL

 #endif //_WIN32

 typedef struct {
         double  n[3],
                         o[3],
                         a[3],
                         p[3];
 } DFRAME;

 const long ER_KIN_CONFIGS               =  8;
 const long ER_KIN_DOFS                  = 12;
 const long ER_KIN_PASSIVE_JNTS  = 36;
 const long ER_DOF6                              =  6;
 const long ER_DOF_QUAT                  =  7;
 const long ER_DOF9                              =  9;
 const long ER_DOF12                             = 12;
 const long ER_DIM                               =  3;
 const long ER_MAXSTR                    = 128;
 const long ER_DMAXSTR                   = 256;
 const long ER_LS_MAXSTR                 = 512;
 const long ER_HS_MAXSTR                 = 1024;

 const double ER_PI   = 3.14159265359;
 const double ER_DEG  = 180.0/ER_PI;
 const double ER_RAD  = ER_PI/180.0;
 const double ER_mm2m = 0.001;
 const double ER_m2mm = 1000.0;

 const int ER_APIDLL_CNTRL_UNDEF         = 0x0;
 const int ER_APIDLL_CNTRL_INITIALIZE= 0x1;
 const int ER_APIDLL_CNTRL_TERMINATE     = 0x2;
 const int ER_APIDLL_CNTRL_SIM_START     = 0x4;
 const int ER_APIDLL_CNTRL_SIM_STEP      = 0x8;
 const int ER_APIDLL_CNTRL_SIM_STOP      = 0x10;

 //const int ER_APIDLL_CALL_UNDEF = 0x0;                         // undefined
 //const int ER_APIDLL_CALL_LOAD_CELL = 0x1;                     // load_cell                    APIDLL_CNTRL_INITIALIZE
 //const int ER_APIDLL_CALL_LOAD_ROBOT = 0x2;            // load_robot                   APIDLL_CNTRL_INITIALIZE
 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_K = 0x4;     // load_new_robot_data  APIDLL_CNTRL_INITIALIZE KIN
 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_I = 0x8;     // load_new_robot_data  APIDLL_CNTRL_INITIALIZE IPO
 //const int ER_APIDLL_CALL_LOAD_ROBOT_DATA_D = 0x10;// load_new_robot_data      APIDLL_CNTRL_INITIALIZE DYN
 //const int ER_APIDLL_CALL_DELETE_ROBOT = 0x20;         // data_delete_robot,   APIDLL_CNTRL_TERMINATE
 //const int ER_APIDLL_CALL_DELETE_ROBOT_ALL = 0x40;     // RemoveRobot_All,             APIDLL_CNTRL_TERMINATE
 //const int ER_APIDLL_CALL_CREATE_ROBOT = 0x80;         // createkinematic_ext  APIDLL_CNTRL_INITIALIZE
 //const int ER_APIDLL_CALL_MODIFY_INVKIN = 0x100;       // modify_invkin                APIDLL_CNTRL_INITIALIZE
 //const int ER_APIDLL_CALL_IPO_ALL_MODE = 0x200;        // ipo all motypes              APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
 //const int ER_APIDLL_CALL_IPO_JOINT = 0x400;           // ipo_joint                    APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
 //const int ER_APIDLL_CALL_IPO_CP = 0x800;                      // ipo_cp                               APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
 //const int ER_APIDLL_CALL_IPO_CIRC = 0x1000;           // ipo_circ                     APIDLL_CNTRL_INITIALIZE, APIDLL_CNTRL_SIM_START, APIDLL_CNTRL_SIM_STOP
 //
 //const int ER_APIDLL_DEVIDX_ALL = 0;                           // For all devices
 //const int ER_APIDLL_DEVIDX_CURRENT = -1;                      // For the current device only

 #ifdef _WIN64
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Windows x64
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 //
 typedef UINT_PTR* ER_HND;
 typedef UINT_PTR* Host_HND;
 typedef UINT_PTR TErGeoHandle;
 typedef UINT_PTR TErTargetID;
 typedef UINT_PTR TErTrackingWindowID;
 typedef UINT_PTR *ER_COLLISION_HND;

 typedef UINT_PTR *ER_TOOLPATH_HND;
 typedef UINT_PTR *ER_TARGET_LOCATION_HND;
 typedef UINT_PTR *ER_TARGET_HEAD_HND;
 typedef UINT_PTR *ER_TARGET_INSTRUCTIONS_HND;
 typedef UINT_PTR *ER_TARGET_EVENTS_HND;
 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_AUX_HND;
 typedef UINT_PTR *ER_TARGET_ATTRIBUTES_HND;
 typedef UINT_PTR *ER_TARGET_MOVE_JOINT_HND;
 typedef UINT_PTR *ER_TARGET_MOVE_CP_HND;
 typedef UINT_PTR *ER_TARGET_MOTION_EXEC_HND;
 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
 typedef UINT_PTR *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;

 #elif _WIN32
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Windows
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 //
 typedef unsigned int* ER_HND;
 typedef unsigned int* Host_HND;
 typedef unsigned int TErGeoHandle;
 typedef unsigned int TErTargetID;
 typedef unsigned int TErTrackingWindowID;
 typedef unsigned int *ER_COLLISION_HND;

 typedef unsigned int *ER_TOOLPATH_HND;
 typedef unsigned int *ER_TARGET_LOCATION_HND;
 typedef unsigned int *ER_TARGET_HEAD_HND;
 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
 typedef unsigned int *ER_TARGET_EVENTS_HND;
 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;

 #else
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Linux
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 //
 typedef unsigned int* ER_HND;
 typedef unsigned int* Host_HND;
 typedef unsigned int TErGeoHandle;
 typedef unsigned int TErTargetID;
 typedef unsigned int TErTrackingWindowID;
 typedef unsigned int *ER_COLLISION_HND;

 typedef unsigned int *ER_TOOLPATH_HND;
 typedef unsigned int *ER_TARGET_LOCATION_HND;
 typedef unsigned int *ER_TARGET_HEAD_HND;
 typedef unsigned int *ER_TARGET_INSTRUCTIONS_HND;
 typedef unsigned int *ER_TARGET_EVENTS_HND;
 typedef unsigned int *ER_TARGET_ATTRIBUTES_AUX_HND;
 typedef unsigned int *ER_TARGET_ATTRIBUTES_HND;
 typedef unsigned int *ER_TARGET_MOVE_JOINT_HND;
 typedef unsigned int *ER_TARGET_MOVE_CP_HND;
 typedef unsigned int *ER_TARGET_MOTION_EXEC_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_POSITIONER_HND;
 typedef unsigned int *ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND;

 #endif //_WIN32


 const long ER_GEO_TYPE_CUBE             = 1;
 const long ER_GEO_TYPE_PYRAMID  = 2;
 const long ER_GEO_TYPE_WEDGE    = 3;
 const long ER_GEO_TYPE_CYLINDER = 4;
 const long ER_GEO_TYPE_CONE             = 5;
 const long ER_GEO_TYPE_SPHERE   = 6;
 const long ER_GEO_TYPE_IGP              = 9;
 const long ER_GEO_TYPE_STL              = 11;
 const long ER_GEO_TYPE_3DS              = 12;

 const long ER_GEO_PARAMETER_MAX = 12;

 const int ER_GEO_ATTRIBUTES_UNDEF                       = 0x0;
 const int ER_GEO_ATTRIBUTES_SMOOTH                      = 0x1;
 const int ER_GEO_ATTRIBUTES_WIRE                        = 0x2;
 const int ER_GEO_ATTRIBUTES_BBFLAT                      = 0x4;
 const int ER_GEO_ATTRIBUTES_BBWIRE                      = 0x8;
 const int ER_GEO_ATTRIBUTES_INVISIBLE           = 0x10;
 const int ER_GEO_ATTRIBUTES_VERTICES            = 0x20;
 const int ER_GEO_ATTRIBUTES_FLAT                        = 0x40;
 const int ER_GEO_ATTRIBUTES_INVERT                      = 0x100;
 const int ER_GEO_ATTRIBUTES_BFACE_CULLING       = 0x200;
 const int ER_GEO_ATTRIBUTES_SHOW_NAME           = 0x400;
 const int ER_GEO_ATTRIBUTES_SHOW_NORMALS        = 0x800;
 const int ER_GEO_ATTRIBUTES_SHOW_MESH           = 0x1000;
 const int ER_GEO_ATTRIBUTES_SHOW_EDGES          = 0x2000;
 const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT= 0x4000;
 const int ER_GEO_ATTRIBUTES_CHK_COLLISION               = 0x10000;
 const int ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO   = 0x20000;
 const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_PARENT= 0x40000;
 const int ER_GEO_ATTRIBUTES_COLL_REF_EXCL_CHILD = 0x80000;
 const int ER_GEO_ATTRIBUTES_DEFAULT = ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO;

 typedef struct {
         TErGeoHandle GeoHandle;
         char *FileName;
         char *GeoName;
         long RGBColor;
         double *Scaling;
         DFRAME *GeoMat;
         long ax_idx;
         long GeoType;
         long GeoAttributes;
         long GeoSizeParameterNum;
         double *GeoSizeParameter;
         long GeoAttributeParameterNum;
         double *GeoAttributeParameter;
 } LOAD_GEOMETRY_DATA;                   // HostLoadGeometry   LoadGeometryProc

 const long ER_LICENSE_PRIORITY_UNDEF = 0x0;
 const long ER_LICENSE_PRIORITY_LMNGR = 0x1;
 const long ER_LICENSE_PRIORITY_LOCAL = 0x2;
 const long ER_LICENSE_PRIORITY_DEFAULT = ER_LICENSE_PRIORITY_LMNGR;

 const long ER_LOG_TYPE_CONSOLE = -1;
 const long ER_LOG_TYPE_MSG = 0;
 const long ER_LOG_TYPE_WARNING = 1;
 const long ER_LOG_TYPE_ERROR = 2;
 const long ER_LOG_TYPE_STATUS = 3;

 const long ER_NOTIFY_TYPE_MSG = 0;
 const long ER_NOTIFY_TYPE_WARNING = 1;
 const long ER_NOTIFY_TYPE_ERROR = 2;
 const long ER_NOTIFY_TYPE_INTERNAL_ERROR = 3;

 const long ER_NOTIFY_DOMAIN_OK = 0;
 const long ER_NOTIFY_DOMAIN_GLOBAL = 1;
 const long ER_NOTIFY_DOMAIN_FILE_IO = 2;
 const long ER_NOTIFY_DOMAIN_KIN_CALC = 3;
 const long ER_NOTIFY_DOMAIN_MOTION_PREP = 4;
 const long ER_NOTIFY_DOMAIN_MOTION_EXEC = 5;

 const long ER_NOTIFY_CODE_OK                                                    = 0;

 const long ER_NOTIFY_CODE_WARN_SINGULAR                                 = 201;
 const long ER_NOTIFY_CODE_WARN_UNREACH                                  = 202;
 const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID                   = 203;
 const long ER_NOTIFY_CODE_WARN_NO_INVKIN                                = 204;
 const long ER_NOTIFY_CODE_WARN_SWE_EXCEED                               = 205;
 const long ER_NOTIFY_CODE_WARN_ERROR                                    = 206;
 const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED                    = 207;

 const long ER_NOTIFY_CODE_IPO_EXEC_RUNNING                              = 301;
 const long ER_NOTIFY_CODE_IPO_NEW_PREP_PATH                             = 302;
 const long ER_NOTIFY_CODE_IPO_PREP_ERROR                                = 303;
 const long ER_NOTIFY_CODE_IPO_PREP_CONFIG                               = 304;
 const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED              = 305;
 const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE                 = 306;
 const long ER_NOTIFY_CODE_IPO_PREP_INVALID_IPO_WHILE_TRACKING = 307;
 const long ER_NOTIFY_CODE_IPO_PREP_INVALID_CHANGE_OF_TRACKING_BASE = 308;

 const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START   = 401;
 const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP    = 402;
 const long ER_NOTIFY_CODE_IPO_EXEC_ERROR                                = 403;
 const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE                 = 404;
 const long ER_NOTIFY_CODE_IPO_POS_OUT_OF_BOUNDARY               = 405;
 const long ER_NOTIFY_CODE_IPO_EXEC_POS_OUT_OF_RANGE             = 406;
 const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR                 = 407;
 const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED    = 408;
 const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED    = 409;

 typedef struct {
     int NotificationType;
     int NotificationDomain;
     int NotificationCode;
     TErTargetID TargetID;
     char Msg[ER_MAXSTR];
 } TErNotifyData;                                        // HostNotify   NotifyProc
 typedef void* TErExtraData;

 const long ER_GRPSYNC_GET_SYNC_DISCRETE = 0;
 const long ER_GRPSYNC_SET_DURATION              = 1;
 const long ER_GRPSYNC_GET_DURATION_MAX  = 2;
 const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN= 3;
 const long ER_GRPSYNC_SET_OV_SPEED_RED  = 4;

 typedef struct {
         long SyncType;
         long SyncIDDiscCont;
         double value;
 } TErGrpSyncData;                                       // HostGrpSync   GrpSyncProc

 // erConnect*   NEW_050402      CONNECT_SYNC_UNDEF, ....
 const long ER_SYNC_UNDEF                =0x0;
 const long ER_SYNC_OFF                  =0x1;
 const long ER_SYNC_ON                   =0x2;
 const long ER_SYNC_CONVEYOR             =0x4;
 const long ER_SYNC_VR_OFF               =0x8;
 const long ER_SYNC_OFF_TRACKING_WINDOWS_ON = 0x10;

 const long ER_RRRRRR_ID                 =1;
 const long ER_TTTRRR_ID                 =2;
 const long ER_RRRRRR_BL_ID              =3;
 const long ER_UNIV_ROB_ID               =10;
 const long ER_DH_ID                             =11;

 typedef struct {
         DFRAME CartPos;
         double JointPos[ER_KIN_DOFS];
         char Configuration[ER_MAXSTR];
 } INITIAL_POSITION_DATA;

 const long ER_TARGET_TYPE_ABS           = 0;
 const long ER_TARGET_TYPE_ABSJOINT      = 9;

 const long ER_OUPUT_FORMAT_JOINT_ENCODER                        = 1;
 const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST                     = 2;
 const long ER_OUPUT_FORMAT_W_ORIENTATION                        = 3;
 const long ER_OUPUT_FORMAT_CART_JOINT_ENCODER           = 4;
 const long ER_OUPUT_FORMAT_CART_JOINT_ANGLE_DIST        = 5;

 const long ER_MOTION_FILTER_GEO         = 0;
 const long ER_MOTION_FILTER_C2          = 1;

 const long ER_SPEED_REDUCTION_ENABLE    = 1;
 const long ER_SPEED_REDUCTION_DISABLE   = 0;

 const long ER_JOINT                             = 1;
 const long ER_PTP                               = ER_JOINT;
 const long ER_LIN                               = 2;
 const long ER_SLEW                              = 3;
 const long ER_CIRC                              = 4;

 const long ER_PTP_TARGET_CALC_MODE_UNDEF                        = 0;
 const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE       = 1;
 const long ER_PTP_TARGET_CALC_MODE_TURNS                        = 2;
 const long ER_PTP_TARGET_CALC_MODE_MATH                         = 3;
 const long ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE      = 4;
 const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG           = 5;

 const long ER_AUTOACCEL_MODE_OFF        =0x0;
 const long ER_AUTOACCEL_MODE_POS        =0x1;
 const long ER_AUTOACCEL_MODE_ORI        =0x2;
 const long ER_AUTOACCEL_MODE_AX         =0x4;
 const long ER_AUTOACCEL_MODE_DEF        =ER_AUTOACCEL_MODE_POS | ER_AUTOACCEL_MODE_ORI;
 const long ER_AUTOACCEL_MODE_ON         =ER_AUTOACCEL_MODE_POS | ER_AUTOACCEL_MODE_ORI | ER_AUTOACCEL_MODE_AX;

 const long ER_DOMINANT_INTERPOLATION_POS        =0x1;
 const long ER_DOMINANT_INTERPOLATION_ORI        =0x2;
 const long ER_DOMINANT_INTERPOLATION_AXIS       =0x3;
 const long ER_DOMINANT_INTERPOLATION_AUTO       =0x4;

 const long ER_CIRC_ORI_INTERPOLATION_START_END                  =0x0;
 const long ER_CIRC_ORI_INTERPOLATION_START_VIA_END              =0x1;
 const long ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END   =0x2;
 const long ER_CIRC_ORI_INTERPOLATION_TANGENTIAL                 =0x3;
 const long ER_CIRC_ORI_INTERPOLATION_FIX                                =0x4;

 typedef struct _ER_EXTAX_KIN_DATA {
         ER_HND er_hnd_connect;
         long axis_idx;
         double axis_value;
         double speed_value;
 } ER_EXTAX_KIN_DATA;

 const long ER_EXTAX_KIN_DATA_MAX        = 12;

 typedef struct _NEXT_TARGET_DATA {
         TErTargetID TargetID;
         long TargetParam;
         DFRAME CartPos;
         double JointPos[ER_KIN_DOFS];
         char Configuration[ER_MAXSTR];
         double TargetParamValue;
         double TrajectoryTime;
         ER_EXTAX_KIN_DATA extax_data[ER_EXTAX_KIN_DATA_MAX];
         double LeadWaitTime;
         double LagWaitTime;
         long SyncIDDiscrete;
         long SyncIDContinuous;
         long ptp_target_calculation_mode;
         long turn_value[ER_KIN_DOFS];
 } NEXT_TARGET_DATA;

 const long ER_FLYBY_OFF                         = 0;
 const long ER_FLYBY_ON                          = 1;

 const long ER_FLYBY_TYPE_UNDEF          = 0;
 const long ER_FLYBY_TYPE_SPEED          = 1;
 const long ER_FLYBY_TYPE_DISTANCE       = 2;

 typedef struct _NEXT_TARGET_DATA_ADVANCE {
         long AdvanceParam;
         TErTargetID TargetID;
         long MotionType;
         long target_type;
         double speed_value;
         double speed_ori_value;
         double joint_speed_percent;
         double segment_length;
         long flyby_type;
         double flyby_value;
         double bending_angle_value;
         long TargetPosSet;
         DFRAME CartPos;
         DFRAME CartPosVia;
         double JointPos[ER_KIN_DOFS];
 } NEXT_TARGET_DATA_ADVANCE;

 const long TRK_WND_NOT_ACTIVE = 0;
 const long TRK_WND_WAITING = 1;
 const long TRK_WND_INSIDE = 2;
 const long TRK_WND_OUT_OF_BOUNDARY = 3;

 typedef struct _NEXT_STEP_DATA {
         DFRAME CartPos;
         double JointPos[ER_KIN_DOFS];
         char Configuration[ER_MAXSTR];
         double ElapsedTime;
         long JointLimit;
         long NumberOfEvents;
         long NumberofMessages;
         double TrajectoryTime;
         TErTargetID TargetID;
         TErTrackingWindowID TrackingWindowID;
         long TrackingWindowStatus;
 } NEXT_STEP_DATA;

 const long ER_CSTEP_STATUS_UNDEF                                        =0x0;
 const long ER_CSTEP_STATUS_ERROR                                        =0x1;
 const long ER_CSTEP_STATUS_OK                                           =0x2;
 const long ER_CSTEP_STATUS_VIA_POINT                            =0x4;
 const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW     =0x8;
 const long ER_CSTEP_STATUS_IPO_IN_POSITION                      =0x10;
 const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED           =0x20;
 const long ER_CSTEP_STATUS_INV_WARNING                          =0x40;

 typedef struct _CURRENT_STEP_DATA {
         long current_step_status;
         long get_nxt_step_result;
         long step_number;
         DFRAME CartPos;
         DFRAME CartPosRBase;
         long n_dof;
         double JointPos[ER_KIN_DOFS];
         double JointVel[ER_KIN_DOFS];
         double JointAcc[ER_KIN_DOFS];
         long Turns[ER_KIN_DOFS];
         long n_dof_external;
         double JointPosExtAx[ER_EXTAX_KIN_DATA_MAX];
         long Configuration;
         TErTargetID TargetID;
         TErTrackingWindowID TrackingWindowID;
         long MotionType;
         long ExternalTcp;

         double SpeedReduce;
         double OverrideSpeed;
         long SyncOvSpeedReduceDiscrete;
         double SyncOvSpeedReduceContinuous;
         double SyncOvTrajScale;

         double TrajectoryTime_nominal;
         double TrajectoryTime;
         double TrajectoryTimeMoving;
         double TrajectoryTimeRemaining;
         double TrajectoryTimeDelay;

         double PathLength;
         double PathLengthMoving;
         double PathLengthRemaining;

         double Distance;
         double DistanceMoving;
         double DistanceRemaining;
 } CURRENT_STEP_DATA;

 // ERK_CAPI_TOOLPATH
 const int ER_MOP_GNTPS_CNTRL_UNDEF                      = 0x0;
 const int ER_MOP_GNTPS_CNTRL_INIT                       = 0x1;
 const int ER_MOP_GNTPS_CNTRL_TERMINATE          = 0x2;
 const int ER_MOP_GNTPS_CNTRL_NEXT_STEP          = 0x4;
 const int ER_MOP_GNTPS_CNTRL_TBD_08                     = 0x8;

 const int ER_MOP_GNTPS_CNTRL_UPDATE_GEO         = 0x10;

 const int ER_MOP_GNTPS_CNTRL_LOG_FILE           = 0x100;
 const int ER_MOP_GNTPS_CNTRL_PRG_FILE           = 0x200;
 const int ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT       = 0x400;
 const int ER_MOP_GNTPS_CNTRL_STEPDATA_OUT       = 0x800;

 const int ER_MOP_GNT_ERROR                                      = -1;
 const int ER_MOP_GNT_OK_SUCCESS                         = 0;
 const int ER_MOP_GNT_NO_TARGETS                         = -2;

 const int ER_MOP_SNT_ERROR                                      = -1;
 const int ER_MOP_SNT_OK_SUCCESS                         = 0;
 const int ER_MOP_SNT_NEED_MORE_DATA                     = 1;

 const int ER_MOP_GNS_ERROR                                      = -1;
 const int ER_MOP_GNS_OK_SUCCESS                         = 0;
 const int ER_MOP_GNS_NEED_MORE_DATA                     = 1;
 const int ER_MOP_GNS_TARGET_REACHED                     =  2;
 const int ER_MOP_GNS_TOOLPATH_REACHED           = 3;

 // EVENTS
 const int ER_EVENT_BOOL_N                                       = 32;

 const long ER_EVENT_BOOL_UNDEF                          = 0x0;
 const long ER_EVENT_BOOL_OFF                            = 0x1;
 const long ER_EVENT_BOOL_ON                                     = 0x2;

 const long ER_EVENT_TRIGGER_OFF                         = 0x0;
 const long ER_EVENT_TRIGGER_DWN                         = 0x1;
 const long ER_EVENT_TRIGGER_UP                          = 0x2;

 const long ER_EVENT_CONDITION_UNDEF                     = 0x0;
 const long ER_EVENT_CONDITION_WAIT_DIN_SET      = 0x1;
 const long ER_EVENT_CONDITION_WAIT_DIN_UNSET= 0x2;
 const long ER_EVENT_CONDITION_WAIT_DIN_GT       = 0x10;
 const long ER_EVENT_CONDITION_WAIT_DIN_GE       = 0x20;
 const long ER_EVENT_CONDITION_WAIT_DIN_LT       = 0x100;
 const long ER_EVENT_CONDITION_WAIT_DIN_LE       = 0x200;

 // Deklaration of Callback functions
 //      TerLogProc
 //      TerLoadGeometryProc
 //      TerUpdateGeometryProc
 //      TerFreeGeometryProc
 //      TerGetActualTravelRangesProc
 //      TerNotifyProc
 //      TerGrpSyncProc
 //
 typedef void (ER_STDCALL* TerLogProc)(long LogType, char *LogMessage);

 typedef TErGeoHandle (ER_STDCALL* TerLoadGeometryProc)(ER_HND ErHandle, LOAD_GEOMETRY_DATA *p_load_geometry_data);

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

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

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

 typedef long (ER_STDCALL* TerNotifyProc)(ER_HND ErHandle,Host_HND HostHandle, TErNotifyData *p_NotifyData, TErExtraData ExtraData);

 typedef long (ER_STDCALL* TerGrpSyncProc)(ER_HND ErHandle,Host_HND HostHandle, TErGrpSyncData *p_GrpSyncData);

 const long JNT_TYPE_ROT                 =0;
 const long JNT_TYPE_TRANS               =1;

 const long JNT_DIRECTION_X = 1;
 const long JNT_DIRECTION_Y = 2;
 const long JNT_DIRECTION_Z = 3;

 const long JNT_CHAIN_TYPE_CHAIN                 = 1;
 const long JNT_CHAIN_TYPE_NO_CHAIN              = 2;
 const long JNT_CHAIN_TYPE_SEP_NO_CHAIN  = 3;

 const long IPO_MODE_BASE                =0;
 const long IPO_MODE_TOOL                =1;

 // Return code for inverse kinematics, INV_WARN_*
 const int INV_WARN_ERROR                =-1;
 const int INV_WARN_OK                   =0;
 const int INV_WARN_SINGULAR             =1;
 const int INV_WARN_UNREACH              =2;
 const int INV_WARN_CNFG                 =3;
 const int INV_WARN_NO_INVKIN    =4;
 const int INV_WARN_SWE_EXCEED   =5;

 // Return code erGetBackLink() obsolete -> use erGetBacklink(...)
 const long KIN_BACK_LINK_NO                     =0;
 const long KIN_BACK_LINK_YES            =1;
 const long KIN_BACK_LINK_UNKNOWN        =2;

 const long KIN_A2A3_COUPLING_NO         =0;
 const long KIN_A2A3_COUPLING_YES        =1;
 const long KIN_A2A3_COUPLING_UNKNOWN=2;

 const long KIN_COUNTER_WEIGHT_NO        =0;
 const long KIN_COUNTER_WEIGHT_YES       =1;
 const long KIN_COUNTER_WEIGHT_UNKNOWN =2;

 const long ER_ONOFF_DISABLE             = 0;
 const long ER_ONOFF_ENABLE              = 1;
 const long ER_ONOFF_STATUS              = 2;

 // rotation Indices ER_ROT_
 const long ER_ROT_IDENT         = 0;
 const long ER_ROT_X                     = 1;
 const long ER_ROT_Y                     = 2;
 const long ER_ROT_Z                     = 3;

 const long ER_ROT_XYZ           = 1;
 const long ER_ROT_ZYX           = 2;
 const long ER_ROT_YXZ           = 3;
 const long ER_ROT_ZYZ           = 4;
 const long ER_ROT_XYX           = 5;
 const long ER_ROT_RPY           = 6;
 const long ER_ROT_QUAT          = 7;
 const long ER_ROT_CA            = 8;
 const long ER_ROT_ZYpZ          = 9;
 const long ER_ROT_Y9XZ          = 10;
 const long ER_ROT_Z9XY          = 11;
 const long ER_ROT_Z9XZ          = 12;
 const long ER_ROT_Z9YX          = 13;
 const long ER_ROT_IJK           = 14;
 const long ER_ROT_ANGLE_1       = 15;

 // ERK_CAPI_SIM_COLLISION
 const long ER_COLL_QUERY_TYPE_UNDEF                     =  0;
 const long ER_COLL_QUERY_TYPE_COLLIDE           =  1;
 const long ER_COLL_QUERY_TYPE_DISTANCE          =  2;
 const long ER_COLL_QUERY_TYPE_TOLERANCE         =  3;

 const int ER_COLL_ALL_CONTACTS                          =  1;
 const int ER_COLL_FIRST_CONTACT                         =  2;

 const int ER_COLL_OK                                            =  0;
 const int ER_COLL_ERR_MODEL_OUT_OF_MEMORY       = -1;
 const int ER_COLL_ERR_OUT_OF_MEMORY                     = -2;
 const int ER_COLL_ERR_UNPROCESSED_MODEL         = -3;
 const int ER_COLL_ERR_BUILD_OUT_OF_SEQUENCE = -4;
 const int ER_COLL_ERR_BUILD_EMPTY_MODEL         = -5;
 const int ER_COLL_ERROR                                         =  1;
 const int ER_COLL_HND_INVALID                           =  2;
 const int ER_COLL_DETECTED                                      =  3;

 struct ER_CollisionPair
 {
   int id1;
   int id2;
 };
 struct ER_CollideResult
 {
         double query_time_secs;
         DFRAME m1Tm2;
         long num_pairs_alloced;
         long num_pairs;
         ER_CollisionPair *pairs;
 };

 struct ER_DistanceResult
 {
         double query_time_secs;
         DFRAME m1Tm2;
         double rel_err;
         double abs_err;
         double distance;
         double *p1;
         double *p2;
 };

 struct ER_ToleranceResult
 {
         double query_time_secs;
         DFRAME m1Tm2;
         long   closer_than_tolerance;
         double tolerance;
         double distance;
         double *p1;
         double *p2;
 };

 //-------------------------------------------------------------------------------------------
 // class ERK_CAPI_AUTOPATH
 //-------------------------------------------------------------------------------------------

 const double AUTOPATH_SDK_KIN_EPSI                                      = 0.5e-6;
 const int AUTOPATH_SDK_KIN_DOFS                                         = 24;

 const int AUTOPATH_SDK_AXIS_BIT_ALL                                     = 0x0;
 const int AUTOPATH_SDK_AXIS_BIT_1                                       = 0x1;
 const int AUTOPATH_SDK_AXIS_BIT_2                                       = 0x2;
 const int AUTOPATH_SDK_AXIS_BIT_3                                       = 0x4;
 const int AUTOPATH_SDK_AXIS_BIT_4                                       = 0x8;
 const int AUTOPATH_SDK_AXIS_BIT_5                                       = 0x10;
 const int AUTOPATH_SDK_AXIS_BIT_6                                       = 0x20;
 const int AUTOPATH_SDK_AXIS_BIT_7                                       = 0x40;
 const int AUTOPATH_SDK_AXIS_BIT_8                                       = 0x80;
 const int AUTOPATH_SDK_AXIS_BIT_9                                       = 0x100;
 const int AUTOPATH_SDK_AXIS_BIT_10                                      = 0x200;
 const int AUTOPATH_SDK_AXIS_BIT_11                                      = 0x400;
 const int AUTOPATH_SDK_AXIS_BIT_12                                      = 0x800;
 const int AUTOPATH_SDK_AXIS_BIT_13                                      = 0x1000;
 const int AUTOPATH_SDK_AXIS_BIT_14                                      = 0x2000;
 const int AUTOPATH_SDK_AXIS_BIT_15                                      = 0x4000;
 const int AUTOPATH_SDK_AXIS_BIT_16                                      = 0x8000;
 const int AUTOPATH_SDK_AXIS_BIT_17                                      = 0x10000;
 const int AUTOPATH_SDK_AXIS_BIT_18                                      = 0x20000;
 const int AUTOPATH_SDK_AXIS_BIT_19                                      = 0x40000;
 const int AUTOPATH_SDK_AXIS_BIT_20                                      = 0x80000;
 const int AUTOPATH_SDK_AXIS_BIT_21                                      = 0x100000;
 const int AUTOPATH_SDK_AXIS_BIT_22                                      = 0x200000;
 const int AUTOPATH_SDK_AXIS_BIT_23                                      = 0x400000;
 const int AUTOPATH_SDK_AXIS_BIT_24                                      = 0x800000;
 const int AUTOPATH_SDK_AXIS_BIT_DOF6                            = 0x3F;

 const int AUTOPATH_SDK_OK                                                       = 0;
 const int AUTOPATH_SDK_ERROR                                            = 1;
 const int AUTOPATH_SDK_INVALID_LICENSE                          = 2;
 const int AUTOPATH_SDK_ERROR_VALUE                                      = -1;

 const int AUTOPATH_SDK_PARAMETER_DYNADJUST                      = 1;
 const int AUTOPATH_SDK_PARAMETER_ALGORITHM                      = 2;
 const int AUTOPATH_SDK_PARAMETER_NTREES                         = 3;
 const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS      = 4;
 const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR  = 5;
 const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE      = 6;
 const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY        = 7;
 const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION       = 8;
 const int AUTOPATH_SDK_PARAMETER_SEED_VALUE                     = 9;

 const int AUTOPATH_SDK_ALGORITHM_USER_FCT                       = 1;
 const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT            = 2;
 const int AUTOPATH_SDK_ALGORITHM_RTD_BBS                        = 3;

 const int AUTOPATH_SDK_AXIS_TYPE_ROBOT              = 1;
 const int AUTOPATH_SDK_AXIS_TYPE_TRACK              = 2;
 const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER                     = 3;
 const int AUTOPATH_SDK_AXIS_TYPE_EXTERN             = 4;
 const int AUTOPATH_SDK_AXIS_TYPE_AUX                = 5;

 const int AUTOPATH_SDK_RESULT_CHECKS                            = 1;
 const int AUTOPATH_SDK_RESULT_SECONDS                           = 2;
 const int AUTOPATH_SDK_RESULT_CPS                                       = 3;
 const int AUTOPATH_SDK_RESULT_CFREE                                     = 4;
 const int AUTOPATH_SDK_RESULT_COBSTACLE                         = 5;
 const int AUTOPATH_SDK_RESULT_CDENSITY                          = 6;
 const int AUTOPATH_SDK_RESULT_DSECONDS                          = 7;
 const int AUTOPATH_SDK_RESULT_SEED_VALUE                        = 8;
 const int AUTOPATH_SDK_RESULT_QUALITY_INDEX                     = 9;
 const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV = 10;

 const int AUTOPATH_SDK_CONSTRAINT_RESET                         = 0x0;
 const int AUTOPATH_SDK_CONSTRAINT_MIN                           = 0x1;
 const int AUTOPATH_SDK_CONSTRAINT_MAX                           = 0x2;

 const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF                     = 0x0;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_START                     = 0x1;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST                      = 0x2;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION         = 0x4;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE                       = 0x8;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE        = 0x10;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20            = 0x20;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40            = 0x40;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80            = 0x80;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE           = 0x100;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200           = 0x200;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400           = 0x400;
 const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800           = 0x800;

 const int AUTOPATH_SDK_STATUS_MP_START                          = 0x1000;
 const int AUTOPATH_SDK_STATUS_MP_ABORT                          = 0x2000;
 const int AUTOPATH_SDK_STATUS_MP_SUCCESS                        = 0x4000;
 const int AUTOPATH_SDK_STATUS_MP_FAILURE                        = 0x8000;
 const int AUTOPATH_SDK_STATUS_MP_IDLE                           = 0x10000;
 const int AUTOPATH_SDK_STATUS_MP_RUNNING                        = 0x20000;
 const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS  = 0x40000;
 const int AUTOPATH_SDK_STATUS_MP_DEL_WAYPOINTS      = 0x80000;

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

 typedef double ER_REAL_TYPE;

 const int AUTOPATH_SDK_AXIS_ROT         = 0;
 const int AUTOPATH_SDK_AXIS_TRANS       = 1;

 typedef struct _AutoPath_ConfigurationSpace
 {
     unsigned int        size;
         int                             initialized;
         int                             apHandle;
         int                             ThreadedExecution;

         int                             nConfig;
     INT_PTR*            deviceHandle;
     int*                        deviceAxisIdx;
     int*                        AxisEnable;
         int*                    AxisPriority;
     int*                        AxisRotTrans;
     int*                        AxisType;
     ER_REAL_TYPE*       ConstraintMin;
     ER_REAL_TYPE*       ConstraintMax;
     ER_REAL_TYPE*       CartConstraintMin;
     ER_REAL_TYPE*       CartConstraintMax;
     ER_REAL_TYPE*       SpeedWeight;
     ER_REAL_TYPE*       DistanceWeight;
         UINT                    Accuracy;
         void                    *UsrData;
 } AutoPath_ConfigurationSpace;

 #endif


_AutoPath_ConfigurationSpace::ConstraintMin
ER_REAL_TYPE * ConstraintMin
minimum constraint value, size nConfig
Definition: erk_capi_types.h:933

ER_HND
unsigned int * ER_HND
unique Kinematics handle, created with erInitKin()
Definition: erk_capi_types.h:195

ER_GRPSYNC_SET_OV_SPEED_RED
const long ER_GRPSYNC_SET_OV_SPEED_RED
MoveSync, set current ov resulted from speed reduction.
Definition: erk_capi_types.h:342

ER_COLL_DETECTED
const int ER_COLL_DETECTED
Result if Collision detected erColl_ChkCollision()
Definition: erk_capi_types.h:762

ER_COLL_QUERY_TYPE_COLLIDE
const long ER_COLL_QUERY_TYPE_COLLIDE
detects collision between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:747

ER_NOTIFY_CODE_WARN_SWE_EXCEED
const long ER_NOTIFY_CODE_WARN_SWE_EXCEED
Code notify warning, location ok but travel ranges are exceeded.
Definition: erk_capi_types.h:302

ER_FLYBY_TYPE_DISTANCE
const long ER_FLYBY_TYPE_DISTANCE
Flyby by distance [mm].
Definition: erk_capi_types.h:464

ER_ONOFF_DISABLE
const long ER_ONOFF_DISABLE
disable flag
Definition: erk_capi_types.h:719

ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE
const long ER_NOTIFY_CODE_IPO_EXEC_NOT_POSSIBLE
Code notify error -68, Cannot calculate next step.
Definition: erk_capi_types.h:318

_CURRENT_STEP_DATA::ExternalTcp
long ExternalTcp
IPO_MODE_BASE - enabled, IPO_MODE_TOOL - disabled
Definition: erk_capi_types.h:542

_NEXT_TARGET_DATA_ADVANCE::CartPosVia
DFRAME CartPosVia
Target cartesian via position for cartesian motion ER_CIRC.
Definition: erk_capi_types.h:485

ER_GEO_TYPE_WEDGE
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:221

DFRAME
Homogeneous 4x4 transformation matrix, a Frame with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 pos...
Definition: erk_capi_types.h:87

ER_MOP_GNT_OK_SUCCESS
const int ER_MOP_GNT_OK_SUCCESS
Get Next Target, OK, next target available and valid.
Definition: erk_capi_types.h:580

ER_ROT_ZYpZ
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:737

ER_EVENT_CONDITION_UNDEF
const long ER_EVENT_CONDITION_UNDEF
event condition for binary input is undefined
Definition: erk_capi_types.h:604

AUTOPATH_SDK_ALGORITHM_RRT_CONNECT
const int AUTOPATH_SDK_ALGORITHM_RRT_CONNECT
Path Planner Algorithm: 2-RRT Connect (rapidly exploring random trees)
Definition: erk_capi_types.h:865

ER_ROT_X
const long ER_ROT_X
Rotation Index: Rotation about x axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:725

ER_MAXSTR
const long ER_MAXSTR
Maximum length of a short message.
Definition: erk_capi_types.h:102

ER_GRPSYNC_GET_SYNC_DISCRETE
const long ER_GRPSYNC_GET_SYNC_DISCRETE
ProcSync, aks status for SyncIDDiscrete.
Definition: erk_capi_types.h:338

ER_TARGET_MOVE_CP_HND
unsigned int * ER_TARGET_MOVE_CP_HND
unique Target data for CP Move handle
Definition: erk_capi_types.h:210

ER_DEG
const double ER_DEG
Conversion from radiant to degree.
Definition: erk_capi_types.h:108

TerGrpSyncProc
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:681

_AutoPath_ConfigurationSpace::ConstraintMax
ER_REAL_TYPE * ConstraintMax
maximum constraint value, size nConfig
Definition: erk_capi_types.h:934

ER_ToleranceResult::p2
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:812

ER_GEO_TYPE_PYRAMID
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:220

AUTOPATH_SDK_CHK_CONSTRAINT_START
const int AUTOPATH_SDK_CHK_CONSTRAINT_START
action parameter is StartPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:890

_AutoPath_ConfigurationSpace::DistanceWeight
ER_REAL_TYPE * DistanceWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:938

ER_CollideResult::pairs
ER_CollisionPair * pairs
array of collided triangle pairs if num_pairs > 0
Definition: erk_capi_types.h:781

ER_OUPUT_FORMAT_W_ORIENTATION
const long ER_OUPUT_FORMAT_W_ORIENTATION
desired output_format for erGET_NEXT_STEP is Cartesian ( w/orientation )
Definition: erk_capi_types.h:383

ER_COLL_OK
const int ER_COLL_OK
Used by all API routines upon successful completion except.
Definition: erk_capi_types.h:754

JNT_TYPE_TRANS
const long JNT_TYPE_TRANS
Robot Joint is prismatic.
Definition: erk_capi_types.h:684

ER_COLL_ERR_BUILD_EMPTY_MODEL
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:759

IPO_MODE_BASE
const long IPO_MODE_BASE
Interpolation mode is w.r.t. BASE (work object)
Definition: erk_capi_types.h:694

ER_NOTIFY_DOMAIN_MOTION_EXEC
const long ER_NOTIFY_DOMAIN_MOTION_EXEC
Domain notify level: MOTION_EXEC 401-500 Get_Next_Step.
Definition: erk_capi_types.h:294

ER_OUPUT_FORMAT_JOINT_ANGLE_DIST
const long ER_OUPUT_FORMAT_JOINT_ANGLE_DIST
desired output_format for erGET_NEXT_STEP is Joint angle/distance
Definition: erk_capi_types.h:382

_NEXT_TARGET_DATA::extax_data
ER_EXTAX_KIN_DATA extax_data[ER_EXTAX_KIN_DATA_MAX]
external axis data
Definition: erk_capi_types.h:450

INV_WARN_OK
const int INV_WARN_OK
inverse kinematics calculation successful "OK", target location is reachable
Definition: erk_capi_types.h:699

ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED
const long ER_NOTIFY_CODE_IPO_MOTYPE_NOT_SUPPORTED
Code notify, error -17, specified motion type is not supported.
Definition: erk_capi_types.h:310

_NEXT_TARGET_DATA_ADVANCE::speed_ori_value
double speed_ori_value
Speed for the orientation during cartesian motion [rad/sec].
Definition: erk_capi_types.h:477

AUTOPATH_SDK_AXIS_BIT_DOF6
const int AUTOPATH_SDK_AXIS_BIT_DOF6
axisBit Axis 1..6
Definition: erk_capi_types.h:847

ER_DistanceResult::m1Tm2
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:793

IPO_MODE_TOOL
const long IPO_MODE_TOOL
Interpolation mode is w.r.t. external TCP.
Definition: erk_capi_types.h:695

ER_STDCALL
#define ER_STDCALL
Definition: erk_capi_types.h:78

KIN_A2A3_COUPLING_UNKNOWN
const long KIN_A2A3_COUPLING_UNKNOWN
Robot has no informaton about axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:713

_CURRENT_STEP_DATA::SyncOvSpeedReduceDiscrete
long SyncOvSpeedReduceDiscrete
Synchronized Override Discrete 0 - stopp motion , 1 - continue motion.
Definition: erk_capi_types.h:546

ER_GEO_ATTRIBUTES_BBWIRE
const int ER_GEO_ATTRIBUTES_BBWIRE
GeoAttributes render bbox wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:235

AUTOPATH_SDK_AXIS_BIT_23
const int AUTOPATH_SDK_AXIS_BIT_23
axisBit Axis 23
Definition: erk_capi_types.h:845

ER_ROT_QUAT
const long ER_ROT_QUAT
Rotation Index: Quaternion, ABB, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:735

ER_CSTEP_STATUS_UNDEF
const long ER_CSTEP_STATUS_UNDEF
current step status is not defined, erGetCurrentStepData()
Definition: erk_capi_types.h:512

_NEXT_TARGET_DATA
Definition: erk_capi_types.h:442

ER_NOTIFY_CODE_WARN_NO_INVKIN
const long ER_NOTIFY_CODE_WARN_NO_INVKIN
Code notify error, device has no inverse kinematics.
Definition: erk_capi_types.h:301

_CURRENT_STEP_DATA::SyncOvSpeedReduceContinuous
double SyncOvSpeedReduceContinuous
Synchronized Override resulted from automated Speed Reduction Continuous [0..1].
Definition: erk_capi_types.h:547

ER_EVENT_BOOL_ON
const long ER_EVENT_BOOL_ON
Event status for binary input/output events is ON.
Definition: erk_capi_types.h:598

_AutoPath_ConfigurationSpace::AxisEnable
int * AxisEnable
1-enabled, 0-disabled, size nConfig
Definition: erk_capi_types.h:929

ER_MOP_GNS_TOOLPATH_REACHED
const int ER_MOP_GNS_TOOLPATH_REACHED
Get Next Step, Final step, last toolpath target reached.
Definition: erk_capi_types.h:591

AUTOPATH_SDK_AXIS_BIT_17
const int AUTOPATH_SDK_AXIS_BIT_17
axisBit Axis 17
Definition: erk_capi_types.h:839

ER_NOTIFY_CODE_WARN_CONFIG_INVALID
const long ER_NOTIFY_CODE_WARN_CONFIG_INVALID
Code notify error, invalid configuration.
Definition: erk_capi_types.h:300

ER_KIN_PASSIVE_JNTS
const long ER_KIN_PASSIVE_JNTS
Maximum number of passive joints for a kinematics.
Definition: erk_capi_types.h:96

ER_MOP_GNS_OK_SUCCESS
const int ER_MOP_GNS_OK_SUCCESS
Get Next Step, OK, next step is calculated successful.
Definition: erk_capi_types.h:588

ER_TARGET_TYPE_ABSJOINT
const long ER_TARGET_TYPE_ABSJOINT
Target single axis motion,if motion_type = JOINT --> AbsJoint.
Definition: erk_capi_types.h:379

ER_MOP_GNS_ERROR
const int ER_MOP_GNS_ERROR
Get Next Step, Error.
Definition: erk_capi_types.h:587

ER_CollideResult::num_pairs
long num_pairs
number of collided triangle pairs
Definition: erk_capi_types.h:780

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_200
action parameter is tbd
Definition: erk_capi_types.h:899

ER_MOP_GNT_NO_TARGETS
const int ER_MOP_GNT_NO_TARGETS
Get Next Target,.
Definition: erk_capi_types.h:581

AUTOPATH_SDK_STATUS_MP_ABORT
const int AUTOPATH_SDK_STATUS_MP_ABORT
AutoPath calculation aborted.
Definition: erk_capi_types.h:904

ER_DistanceResult::query_time_secs
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:792

AUTOPATH_SDK_AXIS_BIT_ALL
const int AUTOPATH_SDK_AXIS_BIT_ALL
axisBit Axis all
Definition: erk_capi_types.h:822

AUTOPATH_SDK_ALGORITHM_USER_FCT
const int AUTOPATH_SDK_ALGORITHM_USER_FCT
Path Planner Algorithm: 1-User Fct.
Definition: erk_capi_types.h:864

ER_DOMINANT_INTERPOLATION_POS
const long ER_DOMINANT_INTERPOLATION_POS
1-dominant interpolation type, Position is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:413

AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
const int AUTOPATH_SDK_CHK_CONSTRAINT_ISCFREE
action parameter chk constraint for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:898

ER_ROT_IJK
const long ER_ROT_IJK
Rotation Index: Approach Axis Vector, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:742

ER_ToleranceResult::p1
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:811

AUTOPATH_SDK_INVALID_LICENSE
const int AUTOPATH_SDK_INVALID_LICENSE
Error, AutoPath not licensed.
Definition: erk_capi_types.h:851

ER_TARGET_TYPE_ABS
const long ER_TARGET_TYPE_ABS
Target w.r.t object frame.
Definition: erk_capi_types.h:378

ER_MOP_GNTPS_CNTRL_LOG_FILE
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:574

ER_PTP_TARGET_CALC_MODE_TURNS
const long ER_PTP_TARGET_CALC_MODE_TURNS
PTP solution calculated using turns, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:401

ER_EVENT_TRIGGER_DWN
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:601

ER_ROT_IDENT
const long ER_ROT_IDENT
Rotation Index: Identity, erMath_Frame_Rot()
Definition: erk_capi_types.h:724

ER_TTTRRR_ID
const long ER_TTTRRR_ID
Device modelled as 6 DOF Gantry TTT:RRR type.
Definition: erk_capi_types.h:363

_NEXT_TARGET_DATA_ADVANCE::target_type
long target_type
Target Type ER_TARGET_TYPE_ABS or ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:475

ER_NOTIFY_CODE_IPO_EXEC_POS_OUT_OF_RANGE
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:320

AUTOPATH_SDK_AXIS_BIT_20
const int AUTOPATH_SDK_AXIS_BIT_20
axisBit Axis 20
Definition: erk_capi_types.h:842

ER_ToleranceResult
Collision results for query ER_COLL_QUERY_TYPE_TOLERANCE, see erColl_GetResults_Tolerance()
Definition: erk_capi_types.h:804

_NEXT_TARGET_DATA_ADVANCE::bending_angle_value
double bending_angle_value
Bending angle [rad].
Definition: erk_capi_types.h:482

ER_RAD
const double ER_RAD
Conversion from degree to radiant.
Definition: erk_capi_types.h:109

_AutoPath_ConfigurationSpace::CartConstraintMax
ER_REAL_TYPE * CartConstraintMax
maximum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:936

AUTOPATH_SDK_AXIS_ROT
const int AUTOPATH_SDK_AXIS_ROT
Axis is rotational.
Definition: erk_capi_types.h:916

ER_LICENSE_PRIORITY_LOCAL
const long ER_LICENSE_PRIORITY_LOCAL
check local license first
Definition: erk_capi_types.h:275

_ER_EXTAX_KIN_DATA::axis_idx
long axis_idx
axis idx of controlled joint for connected device [0..ER_EXTAX_KIN_DATA_MAX-1]
Definition: erk_capi_types.h:430

_NEXT_TARGET_DATA::ptp_target_calculation_mode
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:455

AUTOPATH_SDK_OK
const int AUTOPATH_SDK_OK
AutoPath method successful.
Definition: erk_capi_types.h:849

ER_MOP_GNTPS_CNTRL_UNDEF
const int ER_MOP_GNTPS_CNTRL_UNDEF
Get Next Tool Path Step, undefined request.
Definition: erk_capi_types.h:566

_CURRENT_STEP_DATA::JointPos
double JointPos[ER_KIN_DOFS]
current joint position [rad,mm]
Definition: erk_capi_types.h:532

ER_NOTIFY_TYPE_INTERNAL_ERROR
const long ER_NOTIFY_TYPE_INTERNAL_ERROR
Notify Type Level: Initial ERROR 3.
Definition: erk_capi_types.h:287

ER_NOTIFY_DOMAIN_FILE_IO
const long ER_NOTIFY_DOMAIN_FILE_IO
Domain notify level: FILE_IO 101-200.
Definition: erk_capi_types.h:291

ER_DOMINANT_INTERPOLATION_ORI
const long ER_DOMINANT_INTERPOLATION_ORI
2-dominant interpolation type, Orientation is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:414

ER_ROT_ANGLE_1
const long ER_ROT_ANGLE_1
Rotation Index: One Axis Angle Rotation, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:743

TErNotifyData::TargetID
TErTargetID TargetID
Target ID where the notification occured, Default 0.
Definition: erk_capi_types.h:333

_AutoPath_ConfigurationSpace::initialized
int initialized
1- structure is completely initialized, 0- not initialized
Definition: erk_capi_types.h:922

ER_SLEW
const long ER_SLEW
Motion Type SLEW, Async PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:396

ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
unsigned int * ER_TARGET_EXTAX_DEVICE_POSITIONER_HND
unique External axis data definition for Positioner/TurnTable handle
Definition: erk_capi_types.h:213

_CURRENT_STEP_DATA::n_dof
long n_dof
number of manipulator joints
Definition: erk_capi_types.h:531

_AutoPath_ConfigurationSpace::deviceAxisIdx
int * deviceAxisIdx
Device Index of Axis, size nConfig.
Definition: erk_capi_types.h:928

ER_FLYBY_OFF
const long ER_FLYBY_OFF
Flyby OFF, disabled.
Definition: erk_capi_types.h:459

ER_MOP_GNTPS_CNTRL_STEPDATA_OUT
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:577

AUTOPATH_SDK_AXIS_BIT_16
const int AUTOPATH_SDK_AXIS_BIT_16
axisBit Axis 16
Definition: erk_capi_types.h:838

ER_DMAXSTR
const long ER_DMAXSTR
Maximum length of a medium message.
Definition: erk_capi_types.h:103

ER_RRRRRR_BL_ID
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:364

ER_DH_ID
const long ER_DH_ID
Device modelled with DH Denavit-Hartenberg-Transformation.
Definition: erk_capi_types.h:366

TErGrpSyncData::SyncType
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:349

ER_NOTIFY_CODE_WARN_ERROR
const long ER_NOTIFY_CODE_WARN_ERROR
Code notify error, ERROR.
Definition: erk_capi_types.h:303

ER_NOTIFY_CODE_IPO_PREP_INVALID_CHANGE_OF_TRACKING_BASE
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 m�glich....
Definition: erk_capi_types.h:313

JNT_CHAIN_TYPE_CHAIN
const long JNT_CHAIN_TYPE_CHAIN
Robot Joint is in the kinematics chain.
Definition: erk_capi_types.h:690

_NEXT_TARGET_DATA::LagWaitTime
double LagWaitTime
Lag time, after robot reaches its target.
Definition: erk_capi_types.h:452

TerUpdateGeometryProc
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:642

ER_NOTIFY_CODE_IPO_PREP_ERROR
const long ER_NOTIFY_CODE_IPO_PREP_ERROR
Code notify, praparation failed,internal error -68.
Definition: erk_capi_types.h:308

TRK_WND_OUT_OF_BOUNDARY
const long TRK_WND_OUT_OF_BOUNDARY
Robot outside tracking window boundary = 3;.
Definition: erk_capi_types.h:492

_CURRENT_STEP_DATA::SyncOvTrajScale
double SyncOvTrajScale
Synchronized Override resulted from Trajectory scaling [0..1].
Definition: erk_capi_types.h:548

ER_EVENT_CONDITION_WAIT_DIN_LT
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:609

ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW
const long ER_CSTEP_STATUS_WAIT_FOR_TRACKING_WINDOW
current step status Wait for Tracking Window
Definition: erk_capi_types.h:516

_NEXT_STEP_DATA::TrackingWindowStatus
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:509

_NEXT_TARGET_DATA::TrajectoryTime
double TrajectoryTime
Output: Calculated trajectory time in [sec].
Definition: erk_capi_types.h:449

ER_COLL_HND_INVALID
const int ER_COLL_HND_INVALID
Error, invalid collision handle.
Definition: erk_capi_types.h:761

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_80
action parameter is tbd
Definition: erk_capi_types.h:897

ER_GEO_TYPE_CYLINDER
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:222

_CURRENT_STEP_DATA::TrajectoryTimeRemaining
double TrajectoryTimeRemaining
current remaining time for the returned step, if 0, target reached
Definition: erk_capi_types.h:553

ER_EXTAX_KIN_DATA
struct _ER_EXTAX_KIN_DATA ER_EXTAX_KIN_DATA

_NEXT_TARGET_DATA::TargetID
TErTargetID TargetID
Identifier of the target, 0 no identifier givin, >0 identifier of this target.
Definition: erk_capi_types.h:443

AUTOPATH_SDK_AXIS_BIT_8
const int AUTOPATH_SDK_AXIS_BIT_8
axisBit Axis 8
Definition: erk_capi_types.h:830

INV_WARN_NO_INVKIN
const int INV_WARN_NO_INVKIN
ERROR kinematics has no inverse kinematics defned.
Definition: erk_capi_types.h:703

ER_ToleranceResult::distance
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:810

ER_NOTIFY_CODE_IPO_PREP_INVALID_IPO_WHILE_TRACKING
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:312

ER_UNIV_ROB_ID
const long ER_UNIV_ROB_ID
Device modelled with universal coordinates.
Definition: erk_capi_types.h:365

ER_ROT_Y9XZ
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:738

AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
const int AUTOPATH_SDK_PARAMETER_THREAD_EXECUTION
Enables Thread Execution: 1-on, 0-off.
Definition: erk_capi_types.h:861

AUTOPATH_SDK_AXIS_BIT_13
const int AUTOPATH_SDK_AXIS_BIT_13
axisBit Axis 13
Definition: erk_capi_types.h:835

ER_GEO_ATTRIBUTES_OBJ_MEM_MODEL_VBO
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:247

AUTOPATH_SDK_ALGORITHM_RTD_BBS
const int AUTOPATH_SDK_ALGORITHM_RTD_BBS
Path Planner Algorithm: 3-RTD BBS.
Definition: erk_capi_types.h:866

ER_TARGET_LOCATION_HND
unsigned int * ER_TARGET_LOCATION_HND
unique Target location handle, created with erAddTargetLocation()
Definition: erk_capi_types.h:203

_NEXT_TARGET_DATA::JointPos
double JointPos[ER_KIN_DOFS]
Target joint position.
Definition: erk_capi_types.h:446

AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX_STD_DEV
Quality Index Standard Deviation, based on calculated way points.
Definition: erk_capi_types.h:883

ER_MOP_GNT_ERROR
const int ER_MOP_GNT_ERROR
Get Next Target, Error.
Definition: erk_capi_types.h:579

_NEXT_TARGET_DATA_ADVANCE::segment_length
double segment_length
Segment length to Target location [m].
Definition: erk_capi_types.h:479

KIN_COUNTER_WEIGHT_YES
const long KIN_COUNTER_WEIGHT_YES
Robot has a counter weight.
Definition: erk_capi_types.h:716

_AutoPath_ConfigurationSpace::ThreadedExecution
int ThreadedExecution
1-Thread, 0-no Thread, direct function call
Definition: erk_capi_types.h:924

ER_GEO_TYPE_3DS
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:227

ER_DOF9
const long ER_DOF9
9 Degrees-of-Freedom
Definition: erk_capi_types.h:99

ER_OUPUT_FORMAT_JOINT_ENCODER
const long ER_OUPUT_FORMAT_JOINT_ENCODER
desired output_format for erGET_NEXT_STEP is Joint encoder
Definition: erk_capi_types.h:381

AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
const int AUTOPATH_SDK_PARAMETER_LIMIT_REVOLUTE_JNT_CSPACE
Limit revolute joints in C-Space: 1-on, 0-off.
Definition: erk_capi_types.h:859

ER_OUPUT_FORMAT_CART_JOINT_ENCODER
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:384

AUTOPATH_SDK_RESULT_CFREE
const int AUTOPATH_SDK_RESULT_CFREE
Number of CFree Checks during AutoPath calculation.
Definition: erk_capi_types.h:877

ER_PTP_TARGET_CALC_MODE_MATH
const long ER_PTP_TARGET_CALC_MODE_MATH
PTP solution calculated mathematical [-180, 180], NEXT_TARGET_DATA.
Definition: erk_capi_types.h:402

ER_PTP
const long ER_PTP
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:394

TerLogProc
void(ER_STDCALL * TerLogProc)(long LogType, char *LogMessage)
Callback function type definition for Log messages, erSetCallBack_LogProc()
Definition: erk_capi_types.h:626

ER_SYNC_OFF_TRACKING_WINDOWS_ON
const long ER_SYNC_OFF_TRACKING_WINDOWS_ON
device synchronization OFF while Tracking Window active, tbd
Definition: erk_capi_types.h:360

ER_JOINT
const long ER_JOINT
Motion Type JOINT or PTP, Synchro PTP or AbsJoint, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:393

LOAD_GEOMETRY_DATA::GeoMat
DFRAME * GeoMat
location of geometry w.r.t. to belonging axis ax_idx
Definition: erk_capi_types.h:263

ER_HS_MAXSTR
const long ER_HS_MAXSTR
Maximum length of a huge message.
Definition: erk_capi_types.h:105

KIN_BACK_LINK_UNKNOWN
const long KIN_BACK_LINK_UNKNOWN
Robot has no informaton about Backlink.
Definition: erk_capi_types.h:709

ER_COLL_ERROR
const int ER_COLL_ERROR
Error, kernel not initialized or option not licensed.
Definition: erk_capi_types.h:760

ER_GRPSYNC_GET_DURATION_MAX
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:340

_CURRENT_STEP_DATA::TrajectoryTime_nominal
double TrajectoryTime_nominal
nominal calculated trajectory time in [sec]
Definition: erk_capi_types.h:550

ER_ROT_YXZ
const long ER_ROT_YXZ
Rotation Index: RotY*RotX*RotZ, BOSCH, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:731

LOAD_GEOMETRY_DATA::GeoType
long GeoType
Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE,...
Definition: erk_capi_types.h:265

AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
const int AUTOPATH_SDK_PARAMETER_FORCE_DETERM_BEHAVIOR
Force deterministic behavior: 1-on, 0-off.
Definition: erk_capi_types.h:858

_NEXT_TARGET_DATA::turn_value
long turn_value[ER_KIN_DOFS]
Target turn values if ER_PTP_TARGET_CALC_MODE_TURNS is enabled.
Definition: erk_capi_types.h:456

ER_MOP_GNTPS_CNTRL_INIT
const int ER_MOP_GNTPS_CNTRL_INIT
Get Next Tool Path Step, Initialize ToolPath interpolation.
Definition: erk_capi_types.h:567

_CURRENT_STEP_DATA::OverrideSpeed
double OverrideSpeed
Programmed Speed Override [0..100%].
Definition: erk_capi_types.h:545

ER_APIDLL_CNTRL_SIM_STEP
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:117

ER_MOP_GNTPS_CNTRL_PRG_FILE
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:575

AutoPath_ConfigurationSpace
struct _AutoPath_ConfigurationSpace AutoPath_ConfigurationSpace

ER_NOTIFY_DOMAIN_OK
const long ER_NOTIFY_DOMAIN_OK
Domain notify level: OK 0.
Definition: erk_capi_types.h:289

AUTOPATH_SDK_KIN_DOFS
const int AUTOPATH_SDK_KIN_DOFS
Maximum number of configuration space (Degrees-of-Freedom for a kinematics)
Definition: erk_capi_types.h:820

AUTOPATH_SDK_STATUS_MP_RUNNING
const int AUTOPATH_SDK_STATUS_MP_RUNNING
AutoPath in process.
Definition: erk_capi_types.h:908

_AutoPath_ConfigurationSpace::AxisType
int * AxisType
one of AUTOPATH_SDK_AXIS_TYPE_ROBOT, AUTOPATH_SDK_AXIS_TYPE_TRACK, AUTOPATH_SDK_AXIS_TYPE_POSITIONER,...
Definition: erk_capi_types.h:932

AUTOPATH_SDK_AXIS_BIT_14
const int AUTOPATH_SDK_AXIS_BIT_14
axisBit Axis 14
Definition: erk_capi_types.h:836

ER_REAL_TYPE
double ER_REAL_TYPE
Definition: erk_capi_types.h:914

ER_CollisionPair::id1
int id1
identifier triangles 1st object
Definition: erk_capi_types.h:769

ER_NOTIFY_DOMAIN_MOTION_PREP
const long ER_NOTIFY_DOMAIN_MOTION_PREP
Domain notify level: MOTION_PREP 301-400 Set_Next_Target.
Definition: erk_capi_types.h:293

LOAD_GEOMETRY_DATA::Scaling
double * Scaling
xyz scaling of loaded geometry and depending on GeoType
Definition: erk_capi_types.h:262

ER_NOTIFY_CODE_IPO_PREP_CONFIG
const long ER_NOTIFY_CODE_IPO_PREP_CONFIG
Code notify, warning Cannot change configuration during LIN or CIRC move.
Definition: erk_capi_types.h:309

AUTOPATH_SDK_AXIS_TYPE_POSITIONER
const int AUTOPATH_SDK_AXIS_TYPE_POSITIONER
Axis Type External Positioner axis.
Definition: erk_capi_types.h:870

JNT_DIRECTION_X
const long JNT_DIRECTION_X
Robot Joint is in X direction.
Definition: erk_capi_types.h:686

AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS
const int AUTOPATH_SDK_STATUS_MP_MIN_NUM_WAYPOINTS
AutoPath minimize number of WayPoint.
Definition: erk_capi_types.h:909

ER_ROT_XYX
const long ER_ROT_XYX
Rotation Index: RotX*RotY*RotX, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:733

ER_SYNC_ON
const long ER_SYNC_ON
device synchronization ON
Definition: erk_capi_types.h:357

ER_GEO_ATTRIBUTES_FLAT
const int ER_GEO_ATTRIBUTES_FLAT
GeoAttributes render flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:238

AUTOPATH_SDK_AXIS_BIT_11
const int AUTOPATH_SDK_AXIS_BIT_11
axisBit Axis 11
Definition: erk_capi_types.h:833

ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_START
Code notify warning, Start Speed reduction.
Definition: erk_capi_types.h:315

_CURRENT_STEP_DATA
Definition: erk_capi_types.h:525

ER_DistanceResult::rel_err
double rel_err
the relative error margin from actual distance
Definition: erk_capi_types.h:794

ER_CollideResult
Collision results for query ER_COLL_QUERY_TYPE_COLLIDE, see erColl_GetResults_Collide() .
Definition: erk_capi_types.h:775

AUTOPATH_SDK_AXIS_BIT_15
const int AUTOPATH_SDK_AXIS_BIT_15
axisBit Axis 15
Definition: erk_capi_types.h:837

INV_WARN_SINGULAR
const int INV_WARN_SINGULAR
Warning: Target location is reachable, but location is in singularity.
Definition: erk_capi_types.h:700

ER_SPEED_REDUCTION_DISABLE
const long ER_SPEED_REDUCTION_DISABLE
Speed reduction is disabled.
Definition: erk_capi_types.h:391

ER_EVENT_TRIGGER_UP
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:602

AUTOPATH_SDK_PARAMETER_ALGORITHM
const int AUTOPATH_SDK_PARAMETER_ALGORITHM
Selected Path Planner Algorithm: 1-User Fct, 2-RRT Connect, 3-RTD BBS.
Definition: erk_capi_types.h:855

ER_DOMINANT_INTERPOLATION_AUTO
const long ER_DOMINANT_INTERPOLATION_AUTO
4-dominant interpolation type, Automatic (the slowest one is leading), erSELECT_DOMINANT_INTERPOLATIO...
Definition: erk_capi_types.h:416

_NEXT_STEP_DATA::Configuration
char Configuration[ER_MAXSTR]
Manipulator configuration string.
Definition: erk_capi_types.h:501

ER_CSTEP_STATUS_OK
const long ER_CSTEP_STATUS_OK
current step status is OK, erGetCurrentStepData()
Definition: erk_capi_types.h:514

ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
unsigned int * ER_TARGET_EXTAX_DEVICE_TRACKMOTION_HND
unique External axis data definition for Track/Slider handle
Definition: erk_capi_types.h:212

KIN_BACK_LINK_NO
const long KIN_BACK_LINK_NO
Robot has no Backlink.
Definition: erk_capi_types.h:707

ER_EVENT_BOOL_N
const int ER_EVENT_BOOL_N
Number of boolean events for binary inputs/outputs.
Definition: erk_capi_types.h:594

INV_WARN_UNREACH
const int INV_WARN_UNREACH
inverse kinematics calculation failed, target location is unreachable
Definition: erk_capi_types.h:701

ER_GEO_TYPE_STL
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:226

AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF
const int AUTOPATH_SDK_CHK_CONSTRAINT_UNDEF
action parameter is undefined for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:889

ER_CSTEP_STATUS_ERROR
const long ER_CSTEP_STATUS_ERROR
current step status is ERROR, erGetCurrentStepData()
Definition: erk_capi_types.h:513

NEXT_TARGET_DATA
struct _NEXT_TARGET_DATA NEXT_TARGET_DATA

AUTOPATH_SDK_AXIS_BIT_4
const int AUTOPATH_SDK_AXIS_BIT_4
axisBit Axis 4
Definition: erk_capi_types.h:826

_CURRENT_STEP_DATA::TrajectoryTimeDelay
double TrajectoryTimeDelay
current trajectory time delay, >0 in case robot speed reductions
Definition: erk_capi_types.h:554

ER_GEO_ATTRIBUTES_SHOW_MESH
const int ER_GEO_ATTRIBUTES_SHOW_MESH
GeoAttributes geometry visualized meshes, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:243

_NEXT_TARGET_DATA_ADVANCE::flyby_type
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:480

_CURRENT_STEP_DATA::get_nxt_step_result
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:527

ER_GEO_ATTRIBUTES_SHOW_EDGES
const int ER_GEO_ATTRIBUTES_SHOW_EDGES
GeoAttributes geometry visualized edges, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:244

ER_MOTION_FILTER_GEO
const long ER_MOTION_FILTER_GEO
Motion filter set to geometric velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:387

LOAD_GEOMETRY_DATA::GeoSizeParameterNum
long GeoSizeParameterNum
Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType.
Definition: erk_capi_types.h:267

AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
const int AUTOPATH_SDK_PARAMETER_THREAD_PRIORITY
Thread priority: 0-normal, 1-low, 2-high.
Definition: erk_capi_types.h:860

ER_FLYBY_TYPE_SPEED
const long ER_FLYBY_TYPE_SPEED
Flyby by speed [%].
Definition: erk_capi_types.h:463

ER_GEO_ATTRIBUTES_SMOOTH
const int ER_GEO_ATTRIBUTES_SMOOTH
GeoAttributes render smooth, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:232

ER_MOP_GNTPS_CNTRL_NEXT_STEP
const int ER_MOP_GNTPS_CNTRL_NEXT_STEP
Get Next Tool Path Step, Calculate one interpolation step.
Definition: erk_capi_types.h:569

ER_GEO_ATTRIBUTES_SHOW_NORMALS
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:242

ER_NOTIFY_CODE_WARN_UNREACH
const long ER_NOTIFY_CODE_WARN_UNREACH
Code notify error, location unsrechable.
Definition: erk_capi_types.h:299

_NEXT_STEP_DATA::TrackingWindowID
TErTrackingWindowID TrackingWindowID
unique tracking window identifier
Definition: erk_capi_types.h:508

ER_TARGET_EVENTS_HND
unsigned int * ER_TARGET_EVENTS_HND
unique Events handle
Definition: erk_capi_types.h:206

ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP
const long ER_NOTIFY_CODE_IPO_EXEC_SPEED_REDUCE_STOP
Code notify warning, Stop Speed reduction.
Definition: erk_capi_types.h:316

ER_NOTIFY_CODE_WARN_SINGULAR
const long ER_NOTIFY_CODE_WARN_SINGULAR
Code notify warning, robot in singularity.
Definition: erk_capi_types.h:298

_NEXT_TARGET_DATA::SyncIDDiscrete
long SyncIDDiscrete
Handle for ProcSync.
Definition: erk_capi_types.h:453

_AutoPath_ConfigurationSpace::apHandle
int apHandle
individual handle, currently not used
Definition: erk_capi_types.h:923

_NEXT_TARGET_DATA_ADVANCE::AdvanceParam
long AdvanceParam
1 valid data specified, 0 no data specified, 2 initializes and set default data
Definition: erk_capi_types.h:472

ER_CIRC_ORI_INTERPOLATION_FIX
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:422

ER_MOP_SNT_OK_SUCCESS
const int ER_MOP_SNT_OK_SUCCESS
Set Next Target, OK, next target prepared successful.
Definition: erk_capi_types.h:584

TerNotifyProc
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:672

ER_m2mm
const double ER_m2mm
Conversion from [mm] to [m].
Definition: erk_capi_types.h:111

JNT_DIRECTION_Y
const long JNT_DIRECTION_Y
Robot Joint is in Y direction.
Definition: erk_capi_types.h:687

_NEXT_STEP_DATA::TargetID
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:507

_NEXT_TARGET_DATA::Configuration
char Configuration[ER_MAXSTR]
Target manipulator configuration string.
Definition: erk_capi_types.h:447

ER_DistanceResult::abs_err
double abs_err
the absolute error margin from actual distance
Definition: erk_capi_types.h:795

ER_GEO_TYPE_CUBE
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:219

ER_APIDLL_CNTRL_SIM_STOP
const int ER_APIDLL_CNTRL_SIM_STOP
Calling status for API-DLL, Stop indicates that the simulation is aborted.
Definition: erk_capi_types.h:118

ER_CSTEP_STATUS_IPO_IN_POSITION
const long ER_CSTEP_STATUS_IPO_IN_POSITION
current step status Robot already in Position
Definition: erk_capi_types.h:517

ER_TARGET_ATTRIBUTES_HND
unsigned int * ER_TARGET_ATTRIBUTES_HND
unique Motion attributes handle
Definition: erk_capi_types.h:208

AUTOPATH_SDK_RESULT_DSECONDS
const int AUTOPATH_SDK_RESULT_DSECONDS
Elapsed time in deciseconds (1/10) for AutoPath calculation.
Definition: erk_capi_types.h:880

ER_PTP_TARGET_CALC_MODE_UNDEF
const long ER_PTP_TARGET_CALC_MODE_UNDEF
default ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, NEXT_TARGET_DATA
Definition: erk_capi_types.h:399

ER_MOP_GNTPS_CNTRL_TBD_08
const int ER_MOP_GNTPS_CNTRL_TBD_08
tbd
Definition: erk_capi_types.h:570

ER_GEO_ATTRIBUTES_COLL_REF_EXCL_CHILD
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:249

_CURRENT_STEP_DATA::TrajectoryTime
double TrajectoryTime
current trajectory time
Definition: erk_capi_types.h:551

KIN_A2A3_COUPLING_NO
const long KIN_A2A3_COUPLING_NO
Robot has no axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:711

ER_FLYBY_ON
const long ER_FLYBY_ON
Flyby ON, enabled.
Definition: erk_capi_types.h:460

_NEXT_TARGET_DATA_ADVANCE::CartPos
DFRAME CartPos
Target cartesian position for cartesian motion or joint motion with target type ER_TARGET_TYPE_ABS.
Definition: erk_capi_types.h:484

AUTOPATH_SDK_AXIS_BIT_10
const int AUTOPATH_SDK_AXIS_BIT_10
axisBit Axis 10
Definition: erk_capi_types.h:832

ER_GEO_PARAMETER_MAX
const long ER_GEO_PARAMETER_MAX
Maximum number of reserved geometry parameter, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:229

_CURRENT_STEP_DATA::n_dof_external
long n_dof_external
number of external manipulator joints
Definition: erk_capi_types.h:536

AUTOPATH_SDK_STATUS_MP_IDLE
const int AUTOPATH_SDK_STATUS_MP_IDLE
AutoPath is idle.
Definition: erk_capi_types.h:907

_AutoPath_ConfigurationSpace::AxisRotTrans
int * AxisRotTrans
Rotary Axis = AUTOPATH_SDK_AXIS_ROT, Translatory Axis = AUTOPATH_SDK_AXIS_TRANS, size nConfig.
Definition: erk_capi_types.h:931

ER_MOTION_FILTER_C2
const long ER_MOTION_FILTER_C2
Motion filter set to c2-velocity profile, erSET_MOTION_FILTER()
Definition: erk_capi_types.h:388

TerLoadGeometryProc
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:633

TErNotifyData::NotificationType
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:330

_NEXT_STEP_DATA::ElapsedTime
double ElapsedTime
Output: Elapsed time for the returned step, if 0, no valid step is returned.
Definition: erk_capi_types.h:502

_NEXT_STEP_DATA::CartPos
DFRAME CartPos
Cartesian position.
Definition: erk_capi_types.h:499

ER_EXTAX_KIN_DATA_MAX
const long ER_EXTAX_KIN_DATA_MAX
Maximum number of external axis data.
Definition: erk_capi_types.h:435

AUTOPATH_SDK_AXIS_BIT_9
const int AUTOPATH_SDK_AXIS_BIT_9
axisBit Axis 9
Definition: erk_capi_types.h:831

AUTOPATH_SDK_AXIS_TYPE_AUX
const int AUTOPATH_SDK_AXIS_TYPE_AUX
Axis Type Aux Axis.
Definition: erk_capi_types.h:872

ER_EXTAX_KIN_DATA
External axis target data for connected devices belongs to structure NEXT_TARGET_DATA.

ER_LOG_TYPE_ERROR
const long ER_LOG_TYPE_ERROR
error Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:281

CURRENT_STEP_DATA
struct _CURRENT_STEP_DATA CURRENT_STEP_DATA

_AutoPath_ConfigurationSpace::size
unsigned int size
sizeof this structure
Definition: erk_capi_types.h:921

LOAD_GEOMETRY_DATA::GeoAttributeParameterNum
long GeoAttributeParameterNum
Number of geometry attribute parameter in GeoAttributeParameter.
Definition: erk_capi_types.h:269

AUTOPATH_SDK_AXIS_BIT_3
const int AUTOPATH_SDK_AXIS_BIT_3
axisBit Axis 3
Definition: erk_capi_types.h:825

AUTOPATH_SDK_RESULT_CPS
const int AUTOPATH_SDK_RESULT_CPS
Number of Check per seconds for AutoPath calculation.
Definition: erk_capi_types.h:876

ER_EVENT_TRIGGER_OFF
const long ER_EVENT_TRIGGER_OFF
Signal Trigger to control binary output. OFF will not set output event.
Definition: erk_capi_types.h:600

ER_GRPSYNC_SET_DURATION
const long ER_GRPSYNC_SET_DURATION
MoveSync, set duration of calculated motion time for current move.
Definition: erk_capi_types.h:339

ER_CIRC_ORI_INTERPOLATION_START_END
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:418

LOAD_GEOMETRY_DATA::GeoName
char * GeoName
name of loaded geometry
Definition: erk_capi_types.h:260

_NEXT_TARGET_DATA::TargetParam
long TargetParam
0 unused (only position data are valid), 1 radius, 2 angle, 3 distance
Definition: erk_capi_types.h:444

ER_GEO_ATTRIBUTES_BBFLAT
const int ER_GEO_ATTRIBUTES_BBFLAT
GeoAttributes render bbox flat, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:234

_NEXT_TARGET_DATA::CartPos
DFRAME CartPos
Target cartesian position.
Definition: erk_capi_types.h:445

ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_SPEED_EXCEED
Code notify warning, maximum joint speed exceeded.
Definition: erk_capi_types.h:322

AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
const int AUTOPATH_SDK_PARAMETER_MIN_NUM_WAYPOINTS
Minimize number of WayPoints: 1-on, 0-off.
Definition: erk_capi_types.h:857

ER_EVENT_BOOL_UNDEF
const long ER_EVENT_BOOL_UNDEF
Event status for binary input/output events is undefined.
Definition: erk_capi_types.h:596

NEXT_TARGET_DATA_ADVANCE
struct _NEXT_TARGET_DATA_ADVANCE NEXT_TARGET_DATA_ADVANCE

TErGeoHandle
unsigned int TErGeoHandle
unique Geometry handle used for callback functions TerLoadGeometryProc()
Definition: erk_capi_types.h:197

KIN_BACK_LINK_YES
const long KIN_BACK_LINK_YES
Robot has a Backlink.
Definition: erk_capi_types.h:708

ER_GEO_ATTRIBUTES_VERTICES
const int ER_GEO_ATTRIBUTES_VERTICES
GeoAttributes render vertices, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:237

ER_COLL_QUERY_TYPE_DISTANCE
const long ER_COLL_QUERY_TYPE_DISTANCE
computes the minimum distance between two PQP_Models, erColl_ChkCollision()
Definition: erk_capi_types.h:748

LOAD_GEOMETRY_DATA::GeoAttributes
long GeoAttributes
Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVE...
Definition: erk_capi_types.h:266

_NEXT_TARGET_DATA::TargetParamValue
double TargetParamValue
= 2, for radiants
Definition: erk_capi_types.h:448

ER_MOP_SNT_NEED_MORE_DATA
const int ER_MOP_SNT_NEED_MORE_DATA
Set Next Target, Need more data to prepare next motion.
Definition: erk_capi_types.h:585

AUTOPATH_SDK_ERROR_VALUE
const int AUTOPATH_SDK_ERROR_VALUE
Error in AutoPath method.
Definition: erk_capi_types.h:852

ER_GEO_ATTRIBUTES_SHOW_NAME
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:241

_NEXT_STEP_DATA::NumberofMessages
long NumberofMessages
Specifies the number of messages, tbd.
Definition: erk_capi_types.h:505

ER_MOP_GNTPS_CNTRL_TERMINATE
const int ER_MOP_GNTPS_CNTRL_TERMINATE
Get Next Tool Path Step, Terminate ToolPath interpolation.
Definition: erk_capi_types.h:568

ER_DOF_QUAT
const long ER_DOF_QUAT
Quaternion vector length.
Definition: erk_capi_types.h:98

_NEXT_TARGET_DATA_ADVANCE::MotionType
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:474

AUTOPATH_SDK_PARAMETER_DYNADJUST
const int AUTOPATH_SDK_PARAMETER_DYNADJUST
Dynamic adjust Accuracy: 1-on, 0-off.
Definition: erk_capi_types.h:854

_CURRENT_STEP_DATA::CartPosRBase
DFRAME CartPosRBase
current cartesian TCP position w.r.t. Robot Base
Definition: erk_capi_types.h:530

ER_GEO_ATTRIBUTES_CHK_COLLISION
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:246

ER_MOP_GNS_NEED_MORE_DATA
const int ER_MOP_GNS_NEED_MORE_DATA
Get Next Step, Final step, target reached.
Definition: erk_capi_types.h:589

ER_NOTIFY_CODE_FIND_CONFIG_FAILED
const long ER_NOTIFY_CODE_FIND_CONFIG_FAILED
Code notify error, cannot find a valid configuration.
Definition: erk_capi_types.h:304

_AutoPath_ConfigurationSpace::nConfig
int nConfig
complete configuration space, length of each vector, maximum size AUTOPATH_SDK_KIN_DOFS
Definition: erk_capi_types.h:926

ER_CollideResult::query_time_secs
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:777

AUTOPATH_SDK_RESULT_SEED_VALUE
const int AUTOPATH_SDK_RESULT_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:881

_NEXT_STEP_DATA::JointLimit
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:503

ER_CollideResult::m1Tm2
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:778

ER_FLYBY_TYPE_UNDEF
const long ER_FLYBY_TYPE_UNDEF
Flyby is not active = 0.
Definition: erk_capi_types.h:462

AUTOPATH_SDK_AXIS_BIT_22
const int AUTOPATH_SDK_AXIS_BIT_22
axisBit Axis 22
Definition: erk_capi_types.h:844

INV_WARN_CNFG
const int INV_WARN_CNFG
ERROR calulating inverse solution for current robot configuration.
Definition: erk_capi_types.h:702

ER_LOG_TYPE_MSG
const long ER_LOG_TYPE_MSG
simple Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:279

_AutoPath_ConfigurationSpace::CartConstraintMin
ER_REAL_TYPE * CartConstraintMin
minimum cartesian constraint value, size ER_DIM
Definition: erk_capi_types.h:935

ER_CIRC_ORI_INTERPOLATION_START_VIA_END
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:419

TRK_WND_WAITING
const long TRK_WND_WAITING
Robot is waiting for Tracking window = 1.
Definition: erk_capi_types.h:490

INITIAL_POSITION_DATA::CartPos
DFRAME CartPos
initial robot cartesian position w.r.t robot base
Definition: erk_capi_types.h:373

AUTOPATH_SDK_AXIS_BIT_12
const int AUTOPATH_SDK_AXIS_BIT_12
axisBit Axis 12
Definition: erk_capi_types.h:834

AUTOPATH_SDK_AXIS_BIT_19
const int AUTOPATH_SDK_AXIS_BIT_19
axisBit Axis 19
Definition: erk_capi_types.h:841

ER_CIRC
const long ER_CIRC
Motion Type CIRC circular motion using via point, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:397

LOAD_GEOMETRY_DATA::GeoSizeParameter
double * GeoSizeParameter
Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX.
Definition: erk_capi_types.h:268

ER_DistanceResult::distance
double distance
minimum distance>0 if models not colliding, else distance is 0
Definition: erk_capi_types.h:796

_AutoPath_ConfigurationSpace::Accuracy
UINT Accuracy
[1..100]
Definition: erk_capi_types.h:939

AUTOPATH_SDK_AXIS_TYPE_TRACK
const int AUTOPATH_SDK_AXIS_TYPE_TRACK
Axis Type External Track axis.
Definition: erk_capi_types.h:869

ER_COLL_FIRST_CONTACT
const int ER_COLL_FIRST_CONTACT
report first intersecting tri pair found, erColl_ChkCollision()
Definition: erk_capi_types.h:752

AUTOPATH_SDK_STATUS_MP_START
const int AUTOPATH_SDK_STATUS_MP_START
AutoPath calculation started.
Definition: erk_capi_types.h:903

KIN_COUNTER_WEIGHT_UNKNOWN
const long KIN_COUNTER_WEIGHT_UNKNOWN
Robot has no information about counter weight.
Definition: erk_capi_types.h:717

AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION
const int AUTOPATH_SDK_CHK_CONSTRAINT_COLLISION
action parameter is Collision for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:892

ER_COLL_ERR_UNPROCESSED_MODEL
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:757

ER_GEO_ATTRIBUTES_WIRE
const int ER_GEO_ATTRIBUTES_WIRE
GeoAttributes render wire, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:233

TErExtraData
void * TErExtraData
additional notification data, tbd, TerNotifyProc()
Definition: erk_capi_types.h:336

ER_SYNC_UNDEF
const long ER_SYNC_UNDEF
device synchronization not defined
Definition: erk_capi_types.h:355

_CURRENT_STEP_DATA::SpeedReduce
double SpeedReduce
If speed_reduction is enabled [0.0005..1], erSetSpeedReductionEnable()
Definition: erk_capi_types.h:544

ER_EVENT_BOOL_OFF
const long ER_EVENT_BOOL_OFF
Event status for binary input/output events is OFF.
Definition: erk_capi_types.h:597

ER_NOTIFY_TYPE_MSG
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:284

ER_APIDLL_CNTRL_INITIALIZE
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:114

ER_DOF6
const long ER_DOF6
6 Degrees-of-Freedom
Definition: erk_capi_types.h:97

_CURRENT_STEP_DATA::PathLengthRemaining
double PathLengthRemaining
Remaining path length until target reached.
Definition: erk_capi_types.h:558

ER_LS_MAXSTR
const long ER_LS_MAXSTR
Maximum length of a long message.
Definition: erk_capi_types.h:104

ER_CSTEP_STATUS_IPO_MOTION_STOPPED
const long ER_CSTEP_STATUS_IPO_MOTION_STOPPED
current step status Robot motion was stopped
Definition: erk_capi_types.h:518

AUTOPATH_SDK_AXIS_BIT_24
const int AUTOPATH_SDK_AXIS_BIT_24
axisBit Axis 24
Definition: erk_capi_types.h:846

ER_EVENT_CONDITION_WAIT_DIN_GT
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:607

ER_DistanceResult::p1
double * p1
position at model 1 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:797

AUTOPATH_SDK_AXIS_BIT_21
const int AUTOPATH_SDK_AXIS_BIT_21
axisBit Axis 21
Definition: erk_capi_types.h:843

TErTargetID
unsigned int TErTargetID
unique Target identifier
Definition: erk_capi_types.h:198

LOAD_GEOMETRY_DATA::GeoHandle
TErGeoHandle GeoHandle
unique geometry handle created by host application
Definition: erk_capi_types.h:258

ER_AUTOACCEL_MODE_AX
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:409

ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT
const int ER_GEO_ATTRIBUTES_SHOW_TRANSPARENT
GeoAttributes geometry visualized transparent, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:245

AUTOPATH_SDK_AXIS_BIT_2
const int AUTOPATH_SDK_AXIS_BIT_2
axisBit Axis 2
Definition: erk_capi_types.h:824

INITIAL_POSITION_DATA
sets the robot model to a position according to the input data. Usage with erSET_INITIAL_POSITION()
Definition: erk_capi_types.h:372

ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
unsigned int * ER_TARGET_EXTAX_DEVICE_CONVEYOR_HND
unique External device definition for Conveyor
Definition: erk_capi_types.h:214

ER_ROT_ZYZ
const long ER_ROT_ZYZ
Rotation Index: RotZ*RotY*RotZ, Staeubli CS7, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:732

ER_COLL_ERR_MODEL_OUT_OF_MEMORY
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:755

ER_RRRRRR_ID
const long ER_RRRRRR_ID
Device modelled as fixed articulated RRR:RRR type, such as Manutec.
Definition: erk_capi_types.h:362

ER_CollisionPair
A pair of two colliding triangles, see erColl_GetResults_Collide()
Definition: erk_capi_types.h:767

ER_GEO_ATTRIBUTES_UNDEF
const int ER_GEO_ATTRIBUTES_UNDEF
GeoAttributes undefined, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:231

TRK_WND_NOT_ACTIVE
const long TRK_WND_NOT_ACTIVE
Tracking window is not active = 0.
Definition: erk_capi_types.h:489

ER_SYNC_CONVEYOR
const long ER_SYNC_CONVEYOR
device synchronization for track motion with Conveyor, tbd
Definition: erk_capi_types.h:358

AUTOPATH_SDK_STATUS_MP_DEL_WAYPOINTS
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:910

_NEXT_TARGET_DATA_ADVANCE::speed_value
double speed_value
Speed for cartesian motion [m/sec].
Definition: erk_capi_types.h:476

ER_AUTOACCEL_MODE_ORI
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:408

ER_GEO_ATTRIBUTES_COLL_REF_EXCL_PARENT
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:248

ER_NOTIFY_DOMAIN_GLOBAL
const long ER_NOTIFY_DOMAIN_GLOBAL
Domain notify level: GLOBAL 1-100.
Definition: erk_capi_types.h:290

AUTOPATH_SDK_RESULT_QUALITY_INDEX
const int AUTOPATH_SDK_RESULT_QUALITY_INDEX
Quality Index based on calculated way points.
Definition: erk_capi_types.h:882

ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE
const long ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE
PTP solution calculated by shortest angle, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:400

ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE
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:403

ER_TOOLPATH_HND
unsigned int * ER_TOOLPATH_HND
unique Tool path handle, created with erInitToolPath()
Definition: erk_capi_types.h:202

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_400
action parameter is tbd
Definition: erk_capi_types.h:900

AUTOPATH_SDK_AXIS_BIT_6
const int AUTOPATH_SDK_AXIS_BIT_6
axisBit Axis 6
Definition: erk_capi_types.h:828

AUTOPATH_SDK_STATUS_MP_FAILURE
const int AUTOPATH_SDK_STATUS_MP_FAILURE
AutoPath calculation failed.
Definition: erk_capi_types.h:906

TErGrpSyncData::value
double value
bool, Duration, DurationMax, OverrideMin, Override
Definition: erk_capi_types.h:351

ER_MOP_GNS_TARGET_REACHED
const int ER_MOP_GNS_TARGET_REACHED
Get Next Step, Need more data, nothing to do.
Definition: erk_capi_types.h:590

AUTOPATH_SDK_AXIS_BIT_7
const int AUTOPATH_SDK_AXIS_BIT_7
axisBit Axis 7
Definition: erk_capi_types.h:829

AUTOPATH_SDK_CHK_CONSTRAINT_SWE
const int AUTOPATH_SDK_CHK_CONSTRAINT_SWE
action parameter is SWE exceeded for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:893

AUTOPATH_SDK_CONSTRAINT_RESET
const int AUTOPATH_SDK_CONSTRAINT_RESET
Reset Constraints to min. and max. travel ranges.
Definition: erk_capi_types.h:885

ER_CIRC_ORI_INTERPOLATION_TANGENTIAL
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:421

LOAD_GEOMETRY_DATA::ax_idx
long ax_idx
axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints
Definition: erk_capi_types.h:264

AUTOPATH_SDK_CHK_CONSTRAINT_DEST
const int AUTOPATH_SDK_CHK_CONSTRAINT_DEST
action parameter is DestPose for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:891

_CURRENT_STEP_DATA::PathLengthMoving
double PathLengthMoving
moving path length, since motion starts
Definition: erk_capi_types.h:557

ER_LIN
const long ER_LIN
Motion Type LIN linear motion, erSELECT_MOTION_TYPE()
Definition: erk_capi_types.h:395

ER_ToleranceResult::query_time_secs
double query_time_secs
required time for collision computation
Definition: erk_capi_types.h:806

ER_LOG_TYPE_WARNING
const long ER_LOG_TYPE_WARNING
warning Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:280

AUTOPATH_SDK_RESULT_SECONDS
const int AUTOPATH_SDK_RESULT_SECONDS
Elapsed time in seconds for AutoPath calculation.
Definition: erk_capi_types.h:875

_CURRENT_STEP_DATA::step_number
long step_number
counts the number of get next step
Definition: erk_capi_types.h:528

_CURRENT_STEP_DATA::TrackingWindowID
TErTrackingWindowID TrackingWindowID
unique target identifier for Tracking Window
Definition: erk_capi_types.h:540

AUTOPATH_SDK_AXIS_TYPE_ROBOT
const int AUTOPATH_SDK_AXIS_TYPE_ROBOT
Axis Type Robot axis.
Definition: erk_capi_types.h:868

_NEXT_STEP_DATA::NumberOfEvents
long NumberOfEvents
Specifies the number of events, tbd.
Definition: erk_capi_types.h:504

ER_NOTIFY_CODE_OK
const long ER_NOTIFY_CODE_OK
Code notify level: OK 0.
Definition: erk_capi_types.h:296

ER_APIDLL_CNTRL_SIM_START
const int ER_APIDLL_CNTRL_SIM_START
Calling status for API-DLL, Start indicates that the simulation starts.
Definition: erk_capi_types.h:116

ER_AUTOACCEL_MODE_OFF
const long ER_AUTOACCEL_MODE_OFF
0 no auto accel calculation, erSetAutoAccel()
Definition: erk_capi_types.h:406

ER_LOG_TYPE_CONSOLE
const long ER_LOG_TYPE_CONSOLE
Log Message output to console window.
Definition: erk_capi_types.h:278

_AutoPath_ConfigurationSpace::deviceHandle
INT_PTR * deviceHandle
Unique device handle an axis belongs to, size nConfig.
Definition: erk_capi_types.h:927

ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED
const long ER_NOTIFY_CODE_IPO_EXEC_AXIS_ACCEL_EXCEED
Code notify warning, maximum joint acceleration exceeded.
Definition: erk_capi_types.h:323

NEXT_STEP_DATA
struct _NEXT_STEP_DATA NEXT_STEP_DATA

ER_ToleranceResult::m1Tm2
DFRAME m1Tm2
DFRAME transformation from model 1 to model 2
Definition: erk_capi_types.h:807

ER_APIDLL_CNTRL_UNDEF
const int ER_APIDLL_CNTRL_UNDEF
Calling status for API-DLL is undefined.
Definition: erk_capi_types.h:113

AUTOPATH_SDK_RESULT_COBSTACLE
const int AUTOPATH_SDK_RESULT_COBSTACLE
Number of CObstacle Checks during AutoPath calculation.
Definition: erk_capi_types.h:878

TRK_WND_INSIDE
const long TRK_WND_INSIDE
Robot is inside Tracking window = 2;.
Definition: erk_capi_types.h:491

INV_WARN_ERROR
const int INV_WARN_ERROR
ERROR in inverse kinematics calculation.
Definition: erk_capi_types.h:698

ER_ToleranceResult::closer_than_tolerance
long closer_than_tolerance
0- >tolerance, 1- <= tolerance
Definition: erk_capi_types.h:808

KIN_COUNTER_WEIGHT_NO
const long KIN_COUNTER_WEIGHT_NO
Robot has no counter weight.
Definition: erk_capi_types.h:715

ER_EVENT_CONDITION_WAIT_DIN_LE
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:610

JNT_TYPE_ROT
const long JNT_TYPE_ROT
Robot Joint is rotational.
Definition: erk_capi_types.h:683

ER_LICENSE_PRIORITY_DEFAULT
const long ER_LICENSE_PRIORITY_DEFAULT
check Lmngr license first
Definition: erk_capi_types.h:276

Host_HND
unsigned int * Host_HND
unique Host handle given from Host, NULL per default, erInitKin()
Definition: erk_capi_types.h:196

JNT_CHAIN_TYPE_NO_CHAIN
const long JNT_CHAIN_TYPE_NO_CHAIN
Robot Joint is NOT in the kinematics chain.
Definition: erk_capi_types.h:691

ER_ROT_Z9XZ
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:740

TErGrpSyncData
Group synchronization data structure Used with callback function TerGrpSyncProc()
Definition: erk_capi_types.h:348

ER_LICENSE_PRIORITY_UNDEF
const long ER_LICENSE_PRIORITY_UNDEF
license priority not defined
Definition: erk_capi_types.h:273

ER_CSTEP_STATUS_VIA_POINT
const long ER_CSTEP_STATUS_VIA_POINT
current step status ViaPoint is set, waiting for CIRC Target
Definition: erk_capi_types.h:515

_NEXT_TARGET_DATA::LeadWaitTime
double LeadWaitTime
Leading time, before move will start.
Definition: erk_capi_types.h:451

ER_ROT_XYZ
const long ER_ROT_XYZ
Rotation Index: RotX*RotY*RotZ, EASY-ROB, Staeubli CS8, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:729

_AutoPath_ConfigurationSpace::SpeedWeight
ER_REAL_TYPE * SpeedWeight
]0..1], size nConfig, currently not used
Definition: erk_capi_types.h:937

ER_ROT_RPY
const long ER_ROT_RPY
Rotation Index: Roll Pitch Yaw, RotX*RotY*RotZ, not relative, Fanuc, Denso, erMath_VecToFrameIdx(),...
Definition: erk_capi_types.h:734

ER_DistanceResult
Collision results for query ER_COLL_QUERY_TYPE_DISTANCE, see erColl_GetResults_Distance() The followi...
Definition: erk_capi_types.h:790

ER_AUTOACCEL_MODE_ON
const long ER_AUTOACCEL_MODE_ON
all accel calculation enabled, erSetAutoAccel()
Definition: erk_capi_types.h:411

AUTOPATH_SDK_AXIS_BIT_18
const int AUTOPATH_SDK_AXIS_BIT_18
axisBit Axis 18
Definition: erk_capi_types.h:840

LOAD_GEOMETRY_DATA::FileName
char * FileName
file name geometetry file to be loaded
Definition: erk_capi_types.h:259

ER_ROT_Z9XY
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:739

_CURRENT_STEP_DATA::PathLength
double PathLength
complete path length of current motion
Definition: erk_capi_types.h:556

ER_NOTIFY_TYPE_ERROR
const long ER_NOTIFY_TYPE_ERROR
Notify Type Level: ERROR 2.
Definition: erk_capi_types.h:286

ER_AUTOACCEL_MODE_POS
const long ER_AUTOACCEL_MODE_POS
1-auto accel calculation for position ax,axe = f(vx), erSetAutoAccel()
Definition: erk_capi_types.h:407

JNT_DIRECTION_Z
const long JNT_DIRECTION_Z
Robot Joint is in Z direction.
Definition: erk_capi_types.h:688

_CURRENT_STEP_DATA::DistanceRemaining
double DistanceRemaining
Remaining euclidean distance until target reached.
Definition: erk_capi_types.h:562

ER_KIN_CONFIGS
const long ER_KIN_CONFIGS
Maximum number of possible robot configurations.
Definition: erk_capi_types.h:94

_CURRENT_STEP_DATA::current_step_status
long current_step_status
current step status, as a bitwise inclusive OR operator (|) ER_CSTEP_STATUS_OK, .....
Definition: erk_capi_types.h:526

ER_CollisionPair::id2
int id2
identifier triangles 2nd object
Definition: erk_capi_types.h:770

ER_GEO_TYPE_IGP
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:225

ER_TARGET_INSTRUCTIONS_HND
unsigned int * ER_TARGET_INSTRUCTIONS_HND
Instructions, individual information text.
Definition: erk_capi_types.h:205

LOAD_GEOMETRY_DATA
Geometry data structure for callback function. Used when loading and updating robot geometries With c...
Definition: erk_capi_types.h:257

KIN_A2A3_COUPLING_YES
const long KIN_A2A3_COUPLING_YES
Robot has axis coupling between axis 2 and 3.
Definition: erk_capi_types.h:712

ER_ONOFF_ENABLE
const long ER_ONOFF_ENABLE
enable flag
Definition: erk_capi_types.h:720

ER_COLLISION_HND
unsigned int * ER_COLLISION_HND
unique Collision handle, created with erColl_BeginModel()
Definition: erk_capi_types.h:200

TerFreeGeometryProc
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:651

ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE
const long ER_NOTIFY_CODE_IPO_PREP_NOT_POSSIBLE
Code notify, error -78. Cannot prepare motion.
Definition: erk_capi_types.h:311

_AutoPath_ConfigurationSpace::UsrData
void * UsrData
User defined data.
Definition: erk_capi_types.h:940

ER_DistanceResult::p2
double * p2
position at model 2 for shortest distance if minimum distance>0
Definition: erk_capi_types.h:798

_CURRENT_STEP_DATA::Configuration
long Configuration
current manipulator configuration [1..
Definition: erk_capi_types.h:538

ER_CIRC_ORI_INTERPOLATION_START_VIAORI_END
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:420

_CURRENT_STEP_DATA::JointAcc
double JointAcc[ER_KIN_DOFS]
current joint acceleration [rad/s^2,mm/s^2]
Definition: erk_capi_types.h:534

ER_GEO_TYPE_SPHERE
const long ER_GEO_TYPE_SPHERE
Geometry Type SPHERE, number of parameter = 5: Radius [deg], y-Scale, Angle [deg],...
Definition: erk_capi_types.h:224

AUTOPATH_SDK_STATUS_MP_SUCCESS
const int AUTOPATH_SDK_STATUS_MP_SUCCESS
AutoPath calculation successful.
Definition: erk_capi_types.h:905

ER_NOTIFY_DOMAIN_KIN_CALC
const long ER_NOTIFY_DOMAIN_KIN_CALC
Domain notify level: KIN_CALC 201-300.
Definition: erk_capi_types.h:292

ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR
const long ER_NOTIFY_CODE_IPO_EXEC_POS_SINGULAR
Code notify warning -1059, Cartesian position is singular.
Definition: erk_capi_types.h:321

_CURRENT_STEP_DATA::Distance
double Distance
Euclidean distance between cartesian start and target position.
Definition: erk_capi_types.h:560

ER_GEO_ATTRIBUTES_INVISIBLE
const int ER_GEO_ATTRIBUTES_INVISIBLE
GeoAttributes render invisible, 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:236

AUTOPATH_SDK_CONSTRAINT_MAX
const int AUTOPATH_SDK_CONSTRAINT_MAX
Set ConstraintMax.
Definition: erk_capi_types.h:887

ER_TARGET_MOVE_JOINT_HND
unsigned int * ER_TARGET_MOVE_JOINT_HND
unique Target data for Joint Move handle
Definition: erk_capi_types.h:209

_ER_EXTAX_KIN_DATA::speed_value
double speed_value
Target speed [m/s,rad/s].
Definition: erk_capi_types.h:432

AUTOPATH_SDK_RESULT_CDENSITY
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:879

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_40
action parameter is tbd
Definition: erk_capi_types.h:896

_CURRENT_STEP_DATA::JointPosExtAx
double JointPosExtAx[ER_EXTAX_KIN_DATA_MAX]
current external axis joint position [rad,mm]
Definition: erk_capi_types.h:537

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_20
action parameter is tbd
Definition: erk_capi_types.h:895

_NEXT_STEP_DATA
Definition: erk_capi_types.h:498

ER_MOP_GNTPS_CNTRL_TOOLPATH_OUT
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:576

_CURRENT_STEP_DATA::DistanceMoving
double DistanceMoving
moving euclidean distance, since motion starts
Definition: erk_capi_types.h:561

AUTOPATH_SDK_ERROR
const int AUTOPATH_SDK_ERROR
Error in AutoPath method.
Definition: erk_capi_types.h:850

ER_GEO_ATTRIBUTES_INVERT
const int ER_GEO_ATTRIBUTES_INVERT
GeoAttributes geometry visualized inverted 0- OFF, 1- ON, see LOAD_GEOMETRY_DATA.
Definition: erk_capi_types.h:239

_CURRENT_STEP_DATA::Turns
long Turns[ER_KIN_DOFS]
current turn values depending on joint position and defined turn interval
Definition: erk_capi_types.h:535

TErTrackingWindowID
unsigned int TErTrackingWindowID
unique TrackingWindow identifier
Definition: erk_capi_types.h:199

ER_ONOFF_STATUS
const long ER_ONOFF_STATUS
request current flag status, result ER_ONOFF_DISABLE, ER_ONOFF_ENABLE
Definition: erk_capi_types.h:721

TErNotifyData::NotificationDomain
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:331

LOAD_GEOMETRY_DATA::GeoAttributeParameter
double * GeoAttributeParameter
Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]),...
Definition: erk_capi_types.h:270

ER_KIN_DOFS
const long ER_KIN_DOFS
Maximum number of Degrees-of-Freedom for a kinematics.
Definition: erk_capi_types.h:95

AUTOPATH_SDK_AXIS_TYPE_EXTERN
const int AUTOPATH_SDK_AXIS_TYPE_EXTERN
Axis Type other external Axis.
Definition: erk_capi_types.h:871

TErNotifyData::NotificationCode
int NotificationCode
Notify code ER_NOTIFY_CODE_WARN_*, ER_NOTIFY_CODE_IPO_*.
Definition: erk_capi_types.h:332

ER_MOP_GNTPS_CNTRL_UPDATE_GEO
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:572

AUTOPATH_SDK_PARAMETER_SEED_VALUE
const int AUTOPATH_SDK_PARAMETER_SEED_VALUE
Random starting seed value to influence findpath behavior.
Definition: erk_capi_types.h:862

_NEXT_TARGET_DATA_ADVANCE
Definition: erk_capi_types.h:471

ER_EVENT_CONDITION_WAIT_DIN_GE
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:608

TErGrpSyncData::SyncIDDiscCont
long SyncIDDiscCont
relevant SyncID
Definition: erk_capi_types.h:350

JNT_CHAIN_TYPE_SEP_NO_CHAIN
const long JNT_CHAIN_TYPE_SEP_NO_CHAIN
Robot Joint is separated & NOT in the kinematics chain.
Definition: erk_capi_types.h:692

AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE
const int AUTOPATH_SDK_CHK_CONSTRAINT_CART_SPACE
action parameter is cart space exceeded for callback fct SetCallback_CheckConstraints()
Definition: erk_capi_types.h:894

ER_NOTIFY_CODE_IPO_EXEC_RUNNING
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:306

TErNotifyData
Notify data structure Used with callback function TerNotifyProc()
Definition: erk_capi_types.h:329

AUTOPATH_SDK_CONSTRAINT_MIN
const int AUTOPATH_SDK_CONSTRAINT_MIN
Set ConstraintMin.
Definition: erk_capi_types.h:886

_NEXT_STEP_DATA::JointPos
double JointPos[ER_KIN_DOFS]
Joint position.
Definition: erk_capi_types.h:500

AUTOPATH_SDK_AXIS_BIT_1
const int AUTOPATH_SDK_AXIS_BIT_1
axisBit Axis 1
Definition: erk_capi_types.h:823

AUTOPATH_SDK_AXIS_TRANS
const int AUTOPATH_SDK_AXIS_TRANS
Axis is translational.
Definition: erk_capi_types.h:917

ER_GEO_TYPE_CONE
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:223

ER_COLL_QUERY_TYPE_UNDEF
const long ER_COLL_QUERY_TYPE_UNDEF
no collision check
Definition: erk_capi_types.h:746

ER_TARGET_HEAD_HND
unsigned int * ER_TARGET_HEAD_HND
unique Header data handle
Definition: erk_capi_types.h:204

ER_DOF12
const long ER_DOF12
12 Degrees-of-Freedom
Definition: erk_capi_types.h:100

ER_NOTIFY_CODE_IPO_POS_OUT_OF_BOUNDARY
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:319

LOAD_GEOMETRY_DATA::RGBColor
long RGBColor
color value of loaded geometry
Definition: erk_capi_types.h:261

ER_ROT_ZYX
const long ER_ROT_ZYX
Rotation Index: RotZ*RotY*RotX, KUKA, Reis, Kobelco, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:730

ER_DIM
const long ER_DIM
3 Dimensions
Definition: erk_capi_types.h:101

ER_EVENT_CONDITION_WAIT_DIN_UNSET
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:606

ER_SYNC_VR_OFF
const long ER_SYNC_VR_OFF
device synchronization, tbd
Definition: erk_capi_types.h:359

_NEXT_TARGET_DATA::SyncIDContinuous
long SyncIDContinuous
Handle for MotionSync.
Definition: erk_capi_types.h:454

ER_SPEED_REDUCTION_ENABLE
const long ER_SPEED_REDUCTION_ENABLE
Speed reduction is enabled.
Definition: erk_capi_types.h:390

ER_OUPUT_FORMAT_CART_JOINT_ANGLE_DIST
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:385

_AutoPath_ConfigurationSpace
Definition: erk_capi_types.h:919

ER_COLL_QUERY_TYPE_TOLERANCE
const long ER_COLL_QUERY_TYPE_TOLERANCE
checks if distance between PQP_Models is <= tolerance, erColl_ChkCollision()
Definition: erk_capi_types.h:749

AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800
const int AUTOPATH_SDK_CHK_CONSTRAINT_TBD_800
action parameter is tbd
Definition: erk_capi_types.h:901

ER_GEO_ATTRIBUTES_BFACE_CULLING
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:240

_ER_EXTAX_KIN_DATA::axis_value
double axis_value
Target value [m,rad].
Definition: erk_capi_types.h:431

_ER_EXTAX_KIN_DATA::er_hnd_connect
ER_HND er_hnd_connect
Handle of connected device.
Definition: erk_capi_types.h:429

_NEXT_TARGET_DATA_ADVANCE::JointPos
double JointPos[ER_KIN_DOFS]
Target joint position for joint motion and target type ER_TARGET_TYPE_ABSJOINT.
Definition: erk_capi_types.h:486

ER_COLL_ERR_BUILD_OUT_OF_SEQUENCE
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:758

ER_DOMINANT_INTERPOLATION_AXIS
const long ER_DOMINANT_INTERPOLATION_AXIS
3-dominant interpolation type, Axis is master, erSELECT_DOMINANT_INTERPOLATION()
Definition: erk_capi_types.h:415

_CURRENT_STEP_DATA::MotionType
long MotionType
Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.
Definition: erk_capi_types.h:541

ER_PI
const double ER_PI
PI.
Definition: erk_capi_types.h:107

_NEXT_TARGET_DATA_ADVANCE::TargetID
TErTargetID TargetID
Identifier of the target, 0 no identifier givin, >0 identifier of this target.
Definition: erk_capi_types.h:473

_AutoPath_ConfigurationSpace::AxisPriority
int * AxisPriority
[1..50..100], size nConfig
Definition: erk_capi_types.h:930

ER_EVENT_CONDITION_WAIT_DIN_SET
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:605

_NEXT_TARGET_DATA_ADVANCE::TargetPosSet
long TargetPosSet
0x0 - not set, 0x1 - CartPos, 0x2 - CartPosVia, 0x4 - JointPos
Definition: erk_capi_types.h:483

ER_ROT_Z
const long ER_ROT_Z
Rotation Index: Rotation about z axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:727

_CURRENT_STEP_DATA::JointVel
double JointVel[ER_KIN_DOFS]
current joint speed [rad/s,mm/s]
Definition: erk_capi_types.h:533

ER_APIDLL_CNTRL_TERMINATE
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:115

_NEXT_TARGET_DATA_ADVANCE::joint_speed_percent
double joint_speed_percent
Joint speed percentage [1%..200%] for joint motion.
Definition: erk_capi_types.h:478

_NEXT_STEP_DATA::TrajectoryTime
double TrajectoryTime
resulted trajectory time
Definition: erk_capi_types.h:506

ER_LICENSE_PRIORITY_LMNGR
const long ER_LICENSE_PRIORITY_LMNGR
check Lmngr license first
Definition: erk_capi_types.h:274

ER_ROT_Z9YX
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:741

INV_WARN_SWE_EXCEED
const int INV_WARN_SWE_EXCEED
Warning: inverse kinematics calculation successful, target location is reachable, but travel ranges a...
Definition: erk_capi_types.h:704

ER_TARGET_MOTION_EXEC_HND
unsigned int * ER_TARGET_MOTION_EXEC_HND
unique handle for motion execution data at target
Definition: erk_capi_types.h:211

_CURRENT_STEP_DATA::TargetID
TErTargetID TargetID
unique target identifier
Definition: erk_capi_types.h:539

ER_GRPSYNC_GET_OV_SPEED_RED_MIN
const long ER_GRPSYNC_GET_OV_SPEED_RED_MIN
MoveSync, get min ov of all robots in KIR group.
Definition: erk_capi_types.h:341

ER_COLL_ERR_OUT_OF_MEMORY
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:756

_NEXT_TARGET_DATA_ADVANCE::flyby_value
double flyby_value
Flyby or zone value, depending on flyby type as percentage value [0%..100%], or distance [mm].
Definition: erk_capi_types.h:481

ER_ToleranceResult::tolerance
double tolerance
givin tolerance value
Definition: erk_capi_types.h:809

ER_CollideResult::num_pairs_alloced
long num_pairs_alloced
current number of allocated pairs
Definition: erk_capi_types.h:779

ER_NOTIFY_CODE_IPO_NEW_PREP_PATH
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:307

ER_GEO_ATTRIBUTES_DEFAULT
const int ER_GEO_ATTRIBUTES_DEFAULT
GeoAttributes default settings.
Definition: erk_capi_types.h:250

TerGetActualTravelRangesProc
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:662

ER_COLL_ALL_CONTACTS
const int ER_COLL_ALL_CONTACTS
find all pairwise intersecting triangles, erColl_ChkCollision()
Definition: erk_capi_types.h:751

ER_CSTEP_STATUS_INV_WARNING
const long ER_CSTEP_STATUS_INV_WARNING
current step status Inverse Kinematics with warnings
Definition: erk_capi_types.h:519

AUTOPATH_SDK_AXIS_BIT_5
const int AUTOPATH_SDK_AXIS_BIT_5
axisBit Axis 5
Definition: erk_capi_types.h:827

_CURRENT_STEP_DATA::CartPos
DFRAME CartPos
current cartesian TCP position w.r.t. Work Object
Definition: erk_capi_types.h:529

AUTOPATH_SDK_KIN_EPSI
const double AUTOPATH_SDK_KIN_EPSI
epsi
Definition: erk_capi_types.h:819

ER_NOTIFY_TYPE_WARNING
const long ER_NOTIFY_TYPE_WARNING
Notify Type Level: Warning 1.
Definition: erk_capi_types.h:285

ER_ROT_CA
const long ER_ROT_CA
Rotation Index: Tricept C-RotZ, A-RotX, NC, erMath_VecToFrameIdx(), erMath_FrameToVecIdx.
Definition: erk_capi_types.h:736

AUTOPATH_SDK_RESULT_CHECKS
const int AUTOPATH_SDK_RESULT_CHECKS
Number of Checks during AutoPath calculation.
Definition: erk_capi_types.h:874

_ER_EXTAX_KIN_DATA
Definition: erk_capi_types.h:428

ER_LOG_TYPE_STATUS
const long ER_LOG_TYPE_STATUS
status Log Message, callback function TerLogProc()
Definition: erk_capi_types.h:282

ER_SYNC_OFF
const long ER_SYNC_OFF
device synchronization OFF
Definition: erk_capi_types.h:356

ER_mm2m
const double ER_mm2m
Conversion from [m] to [mm].
Definition: erk_capi_types.h:110

ER_PTP_TARGET_CALC_MODE_VAR_CONFIG
const long ER_PTP_TARGET_CALC_MODE_VAR_CONFIG
PTP solution calculated by variable configuration, NEXT_TARGET_DATA.
Definition: erk_capi_types.h:404

ER_NOTIFY_CODE_IPO_EXEC_ERROR
const long ER_NOTIFY_CODE_IPO_EXEC_ERROR
Code notify internal error -68, stop Get_Next_Step.
Definition: erk_capi_types.h:317

AUTOPATH_SDK_PARAMETER_NTREES
const int AUTOPATH_SDK_PARAMETER_NTREES
Number of Trees [2..32].
Definition: erk_capi_types.h:856

ER_AUTOACCEL_MODE_DEF
const long ER_AUTOACCEL_MODE_DEF
Default: auto accel calculation for position and orientation, erSetAutoAccel()
Definition: erk_capi_types.h:410

ER_TARGET_ATTRIBUTES_AUX_HND
unsigned int * ER_TARGET_ATTRIBUTES_AUX_HND
unique Auxiliary motion attributes handle
Definition: erk_capi_types.h:207

_CURRENT_STEP_DATA::TrajectoryTimeMoving
double TrajectoryTimeMoving
current moving time, since motion starts
Definition: erk_capi_types.h:552

ER_MOP_SNT_ERROR
const int ER_MOP_SNT_ERROR
Set Next Target, Error.
Definition: erk_capi_types.h:583

ER_ROT_Y
const long ER_ROT_Y
Rotation Index: Rotation about y axis, erMath_Frame_Rot()
Definition: erk_capi_types.h:726