EASY-ROB™ Kernel  v8.603
Public Attributes | List of all members
LOAD_GEOMETRY_DATA Struct Reference

Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc(). More...

#include <erk_capi_types.h>

Public Attributes

TErGeoHandle GeoHandle
 unique geometry handle created by host application More...
 
char * FileName
 file name geometetry file to be loaded More...
 
char * GeoName
 name of loaded geometry More...
 
long RGBColor
 color value of loaded geometry More...
 
double * Scaling
 xyz scaling of loaded geometry and depending on GeoType More...
 
DFRAMEGeoMat
 location of geometry w.r.t. to belonging axis ax_idx More...
 
long ax_idx
 axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints More...
 
long GeoType
 Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE, ER_GEO_TYPE_CYLINDER, ER_GEO_TYPE_CONE, ER_GEO_TYPE_SPHERE, ER_GEO_TYPE_IGP, ER_GEO_TYPE_STL, ER_GEO_TYPE_3DS. More...
 
long GeoAttributes
 Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVERT, ER_GEO_ATTRIBUTES_BFACE_CULLING ... More...
 
long GeoSizeParameterNum
 Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType. More...
 
double * GeoSizeParameter
 Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX. More...
 
long GeoAttributeParameterNum
 Number of geometry attribute parameter in GeoAttributeParameter. More...
 
double * GeoAttributeParameter
 Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]), maximum length ER_GEO_PARAMETER_MAX. More...
 

Detailed Description

Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc().

Member Data Documentation

◆ ax_idx

long LOAD_GEOMETRY_DATA::ax_idx

axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints

◆ FileName

char* LOAD_GEOMETRY_DATA::FileName

file name geometetry file to be loaded

◆ GeoAttributeParameter

double* LOAD_GEOMETRY_DATA::GeoAttributeParameter

Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]), maximum length ER_GEO_PARAMETER_MAX.

◆ GeoAttributeParameterNum

long LOAD_GEOMETRY_DATA::GeoAttributeParameterNum

Number of geometry attribute parameter in GeoAttributeParameter.

◆ GeoAttributes

long LOAD_GEOMETRY_DATA::GeoAttributes

Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVERT, ER_GEO_ATTRIBUTES_BFACE_CULLING ...

◆ GeoHandle

TErGeoHandle LOAD_GEOMETRY_DATA::GeoHandle

unique geometry handle created by host application

◆ GeoMat

DFRAME* LOAD_GEOMETRY_DATA::GeoMat

location of geometry w.r.t. to belonging axis ax_idx

◆ GeoName

char* LOAD_GEOMETRY_DATA::GeoName

name of loaded geometry

◆ GeoSizeParameter

double* LOAD_GEOMETRY_DATA::GeoSizeParameter

Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX.

◆ GeoSizeParameterNum

long LOAD_GEOMETRY_DATA::GeoSizeParameterNum

Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType.

◆ GeoType

long LOAD_GEOMETRY_DATA::GeoType

◆ RGBColor

long LOAD_GEOMETRY_DATA::RGBColor

color value of loaded geometry

◆ Scaling

double* LOAD_GEOMETRY_DATA::Scaling

xyz scaling of loaded geometry and depending on GeoType


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