#include <erk_capi_types.h>

Public Attributes
long	AdvanceParam
	1 valid data specified, 0 no data specified, 2 initializes and set default data More...

TErTargetID	TargetID
	Identifier of the target, 0 no identifier givin, >0 identifier of this target. More...

long	MotionType
	Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4. More...

long	target_type
	Target Type ER_TARGET_TYPE_ABS or ER_TARGET_TYPE_ABSJOINT. More...

double	speed_value
	Speed for cartesian motion [m/sec]. More...

double	speed_ori_value
	Speed for the orientation during cartesian motion [rad/sec]. More...

double	joint_speed_percent
	Joint speed percentage [1%..200%] for joint motion. More...

double	segment_length
	Segment length to Target location [m]. More...

long	flyby_type
	Flyby Type ER_FLYBY_TYPE_UNDEF = 0, ER_FLYBY_TYPE_SPEED = 1, ER_FLYBY_TYPE_DISTANCE = 2. More...

double	flyby_value
	Flyby or zone value, depending on flyby type as percentage value [0%..100%], or distance [mm]. More...

double	bending_angle_value
	Bending angle [rad]. More...

long	TargetPosSet
	0x0 - not set, 0x1 - CartPos, 0x2 - CartPosVia, 0x4 - JointPos More...

DFRAME	CartPos
	Target cartesian position for cartesian motion or joint motion with target type ER_TARGET_TYPE_ABS. More...

DFRAME	CartPosVia
	Target cartesian via position for cartesian motion ER_CIRC. More...

double	JointPos [ER_KIN_DOFS]
	Target joint position for joint motion and target type ER_TARGET_TYPE_ABSJOINT. More...

Member Data Documentation

◆ AdvanceParam

long _NEXT_TARGET_DATA_ADVANCE::AdvanceParam

1 valid data specified, 0 no data specified, 2 initializes and set default data

◆ bending_angle_value

double _NEXT_TARGET_DATA_ADVANCE::bending_angle_value

Bending angle [rad].

◆ CartPos

DFRAME _NEXT_TARGET_DATA_ADVANCE::CartPos

Target cartesian position for cartesian motion or joint motion with target type ER_TARGET_TYPE_ABS.

◆ CartPosVia

DFRAME _NEXT_TARGET_DATA_ADVANCE::CartPosVia

Target cartesian via position for cartesian motion ER_CIRC.

◆ flyby_type

long _NEXT_TARGET_DATA_ADVANCE::flyby_type

Flyby Type ER_FLYBY_TYPE_UNDEF = 0, ER_FLYBY_TYPE_SPEED = 1, ER_FLYBY_TYPE_DISTANCE = 2.

◆ flyby_value

double _NEXT_TARGET_DATA_ADVANCE::flyby_value

Flyby or zone value, depending on flyby type as percentage value [0%..100%], or distance [mm].

◆ joint_speed_percent

double _NEXT_TARGET_DATA_ADVANCE::joint_speed_percent

Joint speed percentage [1%..200%] for joint motion.

◆ JointPos

double _NEXT_TARGET_DATA_ADVANCE::JointPos[ER_KIN_DOFS]

Target joint position for joint motion and target type ER_TARGET_TYPE_ABSJOINT.

◆ MotionType

long _NEXT_TARGET_DATA_ADVANCE::MotionType

Motion Type ER_JOINT = ER_PTP = 1, ER_LIN = 2, ER_SLEW = 3, ER_CIRC = 4.

◆ segment_length

double _NEXT_TARGET_DATA_ADVANCE::segment_length

Segment length to Target location [m].

◆ speed_ori_value

double _NEXT_TARGET_DATA_ADVANCE::speed_ori_value

Speed for the orientation during cartesian motion [rad/sec].

◆ speed_value

double _NEXT_TARGET_DATA_ADVANCE::speed_value

Speed for cartesian motion [m/sec].

◆ target_type

long _NEXT_TARGET_DATA_ADVANCE::target_type

Target Type ER_TARGET_TYPE_ABS or ER_TARGET_TYPE_ABSJOINT.

◆ TargetID

TErTargetID _NEXT_TARGET_DATA_ADVANCE::TargetID

Identifier of the target, 0 no identifier givin, >0 identifier of this target.

◆ TargetPosSet

long _NEXT_TARGET_DATA_ADVANCE::TargetPosSet

0x0 - not set, 0x1 - CartPos, 0x2 - CartPosVia, 0x4 - JointPos

The documentation for this struct was generated from the following file:

erk_capi_types.h

Public Attributes