EASY-ROB™ Application Programming Interface
v9.301
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Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More...
#include <ER_CAPI.H>
Static Public Member Functions | |
static ER_DllExport int | data_update_all_devices (void) |
Forces mathematical update for all devices, use before calling chk_limits(::AUX_UPDATE_IDX_COLLISION) Calculates for alle devices the forward kinematics, all joints coorsys and the devices location w.r.t world. More... | |
static ER_DllExport int | inq_Get_n_devices (void) |
Get number of current loaded robots in a workcell. More... | |
static ER_DllExport int | inq_Get_c_device_idx (void) |
Get current device idx [1..n_devices]. More... | |
static ER_DllExport ER_UID | inq_Get_c_device_uid (void) |
Get current device unique id. More... | |
static ER_DllExport int | inq_Set_device_idx (int device_idx) |
Sets current device idx [1..n_devices]. More... | |
static ER_DllExport int | inq_Set_device_uid (ER_UID device_uid) |
Sets current device unique id. More... | |
static ER_DllExport int | inq_Set_device_name (char *device_name) |
Sets current device by name of the robot Remarks A device name must be unique. More... | |
static ER_DllExport int | inq_Get_device_idx_by_uid (ER_UID uid) |
Gets device idx by device unique id if the uid is not valid, -1 is returned. More... | |
static ER_DllExport ER_UID | inq_Get_device_uid_by_idx (int idx) |
Get device unique uid by device idx if idx is not valid, -1 is returned. More... | |
static ER_DllExport char * | inq_Get_device_name_by_uid (ER_UID uid) |
Get device name by device unique id if uid is not valid, NULL is returned. More... | |
static ER_DllExport char * | inq_Get_device_name_by_idx (int idx) |
Get device name by device idx [1..n_devices] if idx is not valid, NULL is returned. More... | |
static ER_DllExport int | inq_Get_device_idx_by_name (char *device_name) |
Get device idx by device name if 'device name' is not valid, -1 is returned. More... | |
static ER_DllExport ER_UID | inq_Get_device_uid_by_name (char *device_name) |
Get device unique uid by device name if 'device name' is not valid, -1 is returned. More... | |
static ER_DllExport int * | inq_device_ref_sys_type (void) |
Reference type of the current device The reference type (attach location) can be one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB. More... | |
static ER_DllExport char * | inq_device_ref_sys_type_name (void) |
Reference type name of the current device The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB See also inq_device_ref_sys_type() More... | |
static ER_DllExport int * | inq_device_ref_sys_grp (void) |
Reference group of current device The reference group depends on the attach location. e.g.: If the cDevice is attacehd to another robot, the returned reference group will ROBOT_GRP If the cDevice is not attached, the returned reference group will be UNDEF_GRP The reference group is one of UNDEF_GRP=-1, ROBOT_GRP=0, TOOL_GRP=1, BODY_GRP=2. More... | |
static ER_DllExport ER_UID * | inq_device_ref_sys_grp_uid (void) |
Unique ID of reference device/robot The Unique ID depends on the attach location. More... | |
static ER_DllExport char * | inq_device_ref_sys_name (void) |
Reference name of the current device The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB See also inq_device_ref_sys_type(), inq_device_ref_sys_type_name() Remarks In case of the reference type is REF_CAD, the name of the reference body is returned. More... | |
static ER_DllExport int * | inq_device_ref_sys_jnt_idx (void) |
Reference joint idx of the cDevice, if the reference type is REF_JNT The index of reference joint is returned For active joints a positive value > 0 is returned For passive joints a negative value < 0 is returned 0 is returned if the cDevice is attached to the robot base or if the reference type is not REF_JNT. More... | |
static ER_DllExport int | Device_Create (char *robot_name) |
Creates a new device with one rotational axis in z direction. More... | |
static ER_DllExport int | Device_ReAttach_by_name (int new_reference_type, char *new_reference_device_name, int new_reference_jnt_idx, bool keep_world_position) |
Attaches the current device to another device Attaches the current device to another device, given by new_reference_device_name The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach locationSee also Device_ReAttach_by_idx(), Device_ReAttach_by_uid() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() More... | |
static ER_DllExport int | Device_ReAttach_by_idx (int new_reference_type, int new_reference_device_idx, int new_reference_jnt_idx, bool keep_world_position) |
Attaches the current device to another device Attaches the current device to another device, given by new_reference_device_idx The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach locationSee also Device_ReAttach_by_name(), Device_ReAttach_by_uid() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() The device idx is within [1..n_devices]. More... | |
static ER_DllExport int | Device_ReAttach_by_uid (int new_reference_type, ER_UID new_reference_device_uid, int new_reference_jnt_idx, bool keep_world_position) |
Attaches the current device to another device Attaches the current device to another device, given by new_reference_device_uid The attach location can be one of the following values. REF_NO_REF - no reference system defined REF_BASE - reference system is robot Base coorsys REF_TOOL - reference system is robot Tool, Tcp coorsys REF_WORLD - reference system is World, Inertia coorsys REF_WOBJ - reference system is path work object REF_TAG - reference system is tag REF_CAD - reference system is geometry REF_TIP - reference system is robot Flange, Tip coorsys REF_JNT - reference system is a robot Joint REF_GRAB - reference system is robot Flange, Tip coorsys Parameter keep_world_position determine if the current device will keep its current world position or will "jump" to the defined attach locationSee also Device_ReAttach_by_name(), Device_ReAttach_by_idx() Remarks Make sure that the device to be attached to is current inq_Set_device_idx() More... | |
static ER_DllExport int | Tool_Device_by_name (char *tool_device_name) |
Sets tool data to the device specified by name The current device takes over the current tool data of the device tool_device_name See also Tool_Device_by_idx(), Tool_Device_by_uid() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More... | |
static ER_DllExport int | Tool_Device_by_idx (int tool_device_idx) |
Sets tool data to the device specified by idx The current device takes over the current tool data of the device tool_device_idx See also Tool_Device_by_name(), Tool_Device_by_uid() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More... | |
static ER_DllExport int | Tool_Device_by_uid (ER_UID tool_device_uid) |
Sets tool data to the device specified by unique id The current device takes over the current tool data of the device tool_device_uid See also Tool_Device_by_name(), Tool_Device_by_idx() Remarks This is not a copy of the tool data. The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device. More... | |
static ER_DllExport int * | inq_device_link_ref_sys_type (void) |
Linkage reference type of the current device The linkage reference type can be one of the following values. REF_NO_REF if cDevice is not synchrnized REF_JNT if cDevice is linked by joint to another device See inq_device_link_ref_sys_grp_uid(), inq_device_link_ref_sys_jnt_link_idx(), Device_Link_by_name() More... | |
static ER_DllExport int * | inq_device_sync_ref_sys_type (void) |
Obsolete, use inq_device_link_ref_sys_type() More... | |
static ER_DllExport char * | inq_device_link_ref_sys_type_name (void) |
Linkage reference type name of the current device The linkage reference type name depends on the inq_device_link_ref_sys_type() and can be one of the following values. REF_NO_REF if cDevice is not synchrnized REF_JNT if cDevice is linked by joint to another device See inq_device_link_ref_sys_type() More... | |
static ER_DllExport char * | inq_device_sync_ref_sys_type_name (void) |
Obsolete, use inq_device_link_ref_sys_type_name() More... | |
static ER_DllExport ER_UID * | inq_device_link_ref_sys_grp_uid (void) |
Linkage Unique ID of the reference device current device The Unique ID depends on the linkage reference type, which is REF_JNT if linked. More... | |
static ER_DllExport ER_UID * | inq_device_sync_ref_sys_grp_uid (void) |
Obsolete, use inq_device_link_ref_sys_grp_uid() More... | |
static ER_DllExport int * | inq_device_link_ref_sys_jnt_link_idx (void) |
Linkage joint index vector, if the linkage reference type is REF_JNT and valid unique ID exist The joint index vector contains for each active Jnt a linkage index This linkage index is
< 0 if linked with a passive joint of a sync. ref. device | |
static ER_DllExport int * | inq_device_sync_ref_sys_jnt_sync_idx (void) |
Obsolete, use inq_device_link_ref_sys_jnt_link_idx() More... | |
static ER_DllExport int | Device_Link_by_name (int new_reference_type, char *new_reference_device_name=NULL, int *new_reference_jnt_link_idx=NULL) |
Link current device to another device by name new_reference_type one of REF_NO_REF=0 or REF_JNT=9new_reference_device_name name of device to synchonize withnew_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_idx(), Device_Link_by_uid() More... | |
static ER_DllExport int | Device_Sync_by_name (int new_reference_type, char *new_reference_device_name=NULL, int *new_reference_jnt_link_idx=NULL) |
Obsolete, use Device_Link_by_name() More... | |
static ER_DllExport int | Device_Link_by_idx (int new_reference_type, int new_reference_device_idx=0, int *new_reference_jnt_link_idx=NULL) |
Link current device to another device by idx new_reference_type one of REF_NO_REF=0 or REF_JNT=9new_reference_device_idx idx of device to synchonize with, [1..n_devices]new_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_uid() More... | |
static ER_DllExport int | Device_Sync_by_idx (int new_reference_type, int new_reference_device_idx=0, int *new_reference_jnt_link_idx=NULL) |
Obsolete, use Device_Link_by_idx() More... | |
static ER_DllExport int | Device_Link_by_uid (int new_reference_type, ER_UID new_reference_device_uid=0, int *new_reference_jnt_link_idx=NULL) |
Link current device to another device by uid new_reference_type one of REF_NO_REF=0 or REF_JNT=9new_reference_device_uid uid of device to synchonize withnew_reference_jnt_sync_idx reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_idx() More... | |
static ER_DllExport int | Device_Sync_by_uid (int new_reference_type, ER_UID new_reference_device_uid=0, int *new_reference_jnt_link_idx=NULL) |
Obsolete, use Device_Link_by_uid() More... | |
Static Public Attributes | |
static ER_CAPI_ROB | er_capi_rob |
Method class kinematics and transformations. More... | |
static ER_CAPI_MOP | er_capi_mop |
Method class for trajectory planning and -execution. More... | |
Static Public Attributes inherited from ER_CAPI | |
static ER_CAPI_USER_IO | er_capi_user_io |
Method class for interaction with EASY-ROB. More... | |
static ER_CAPI_DEVICES | er_capi_devices |
Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More... | |
static ER_CAPI_SIM | er_capi_sim |
Method class for simulation settings. More... | |
static ER_CAPI_TARGETS | er_capi_targets |
Method class for paths and tags. More... | |
static ER_CAPI_CAD | er_capi_cad |
Method class for for 3D CAD Data import and -export, changing attributes and positions. More... | |
static ER_CAPI_SYS | er_capi_sys |
Method class for mathematical calculations, simulation status, units. More... | |
Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution.
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Forces mathematical update for all devices, use before calling chk_limits(::AUX_UPDATE_IDX_COLLISION)
Calculates for alle devices the forward kinematics, all joints coorsys and the devices location w.r.t world.
0 | - Ok |
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Link current device to another device by idx
new_reference_type
one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_idx
idx of device to synchonize with, [1..n_devices]
new_reference_jnt_sync_idx
reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_uid()
[in] | new_reference_type | |
[in] | new_reference_device_idx | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Link current device to another device by name
new_reference_type
one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_name
name of device to synchonize with
new_reference_jnt_sync_idx
reference joint idxs for each Jnt, if new_reference_type is REF_JNT
See Device_Link_by_idx(), Device_Link_by_uid()
[in] | new_reference_type | |
[in] | new_reference_device_name | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Link current device to another device by uid
new_reference_type
one of REF_NO_REF=0 or REF_JNT=9
new_reference_device_uid
uid of device to synchonize with
new_reference_jnt_sync_idx
reference joint idxs for each Jnt, if new_reference_type is REF_JNT See Device_Link_by_name(), Device_Link_by_idx()
[in] | new_reference_type | |
[in] | new_reference_device_uid | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_idx
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position
determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_name(), Device_ReAttach_by_uid()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()
The device idx is within [1..n_devices].
[in] | new_reference_type | Attach location |
[in] | new_reference_device_idx | Idx of reference device idx [1..n_devices] |
[in] | new_reference_jnt_idx | Joint idx of reference device, if new_reference_type is REF_JNT |
[in] | keep_world_position | True will keep the world position of the attached device |
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Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_name
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position
determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_idx(), Device_ReAttach_by_uid()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()
[in] | new_reference_type | Attach location |
[in] | new_reference_device_name | Name of reference device |
[in] | new_reference_jnt_idx | Joint idx of reference device, if new_reference_type is REF_JNT |
[in] | keep_world_position | True will keep the world position of the attached device |
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Attaches the current device to another device
Attaches the current device to another device, given by new_reference_device_uid
The attach location can be one of the following values.
REF_NO_REF - no reference system defined
REF_BASE - reference system is robot Base coorsys
REF_TOOL - reference system is robot Tool, Tcp coorsys
REF_WORLD - reference system is World, Inertia coorsys
REF_WOBJ - reference system is path work object
REF_TAG - reference system is tag
REF_CAD - reference system is geometry
REF_TIP - reference system is robot Flange, Tip coorsys
REF_JNT - reference system is a robot Joint
REF_GRAB - reference system is robot Flange, Tip coorsys
Parameter keep_world_position
determine if the current device will keep its current world position or will "jump" to the defined attach location
See also Device_ReAttach_by_name(), Device_ReAttach_by_idx()
Remarks
Make sure that the device to be attached to is current inq_Set_device_idx()
[in] | new_reference_type | Attach location |
[in] | new_reference_device_uid | Unique device id of reference device idx |
[in] | new_reference_jnt_idx | Joint idx of reference device, if new_reference_type is REF_JNT |
[in] | keep_world_position | True will keep the world position of the attached device |
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Obsolete, use Device_Link_by_idx()
[in] | new_reference_type | |
[in] | new_reference_device_idx | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Obsolete, use Device_Link_by_name()
[in] | new_reference_type | |
[in] | new_reference_device_name | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Obsolete, use Device_Link_by_uid()
[in] | new_reference_type | |
[in] | new_reference_device_uid | |
[in] | new_reference_jnt_link_idx | pointer to vector KIN_DOFS |
0 | - OK |
1 | - Error |
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Linkage Unique ID of the reference device current device
The Unique ID depends on the linkage reference type, which is REF_JNT if linked.
> | 0 Unique ID of sync reference device |
0 | cDevice is not linked, has no reference |
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Linkage joint index vector, if the linkage reference type is REF_JNT and valid unique ID exist
The joint index vector contains for each active Jnt a linkage index
This linkage index is
0 if linked with an active joint of a sync. ref. device
< 0 if linked with a passive joint of a sync. ref. device
= 0 if no linkage
See inq_device_link_ref_sys_type(), inq_device_link_ref_sys_grp_uid.
pointer | to link_vector, KIN_DOFS |
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Linkage reference type of the current device
The linkage reference type can be one of the following values.
REF_NO_REF if cDevice is not synchrnized
REF_JNT if cDevice is linked by joint to another device
See inq_device_link_ref_sys_grp_uid(), inq_device_link_ref_sys_jnt_link_idx(), Device_Link_by_name()
pointer | to linkage reference type |
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Linkage reference type name of the current device
The linkage reference type name depends on the inq_device_link_ref_sys_type() and can be one of the following values.
REF_NO_REF if cDevice is not synchrnized
REF_JNT if cDevice is linked by joint to another device
See inq_device_link_ref_sys_type()
pointer | to linkage reference type name |
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Reference group of current device
The reference group depends on the attach location.
e.g.: If the cDevice is attacehd to another robot, the returned reference group will ROBOT_GRP
If the cDevice is not attached, the returned reference group will be UNDEF_GRP
The reference group is one of UNDEF_GRP=-1, ROBOT_GRP=0, TOOL_GRP=1, BODY_GRP=2.
pointer | to reference group |
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Unique ID of reference device/robot
The Unique ID depends on the attach location.
> | 0 Unique ID |
0 | cDevice is not attached, has no reference |
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Reference joint idx of the cDevice, if the reference type is REF_JNT
The index of reference joint is returned
For active joints a positive value > 0 is returned
For passive joints a negative value < 0 is returned
0 is returned if the cDevice is attached to the robot base or if the reference type is not REF_JNT.
joint | reference index |
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Reference name of the current device
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB
See also inq_device_ref_sys_type(), inq_device_ref_sys_type_name() Remarks
In case of the reference type is REF_CAD, the name of the reference body is returned.
pointer | to char of reference name |
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Reference type name of the current device
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_TOOL, REF_WORLD, REF_WOBJ, REF_TAG, REF_CAD, REF_TIP, REF_JNT, REF_GRAB
See also inq_device_ref_sys_type()
pointer | to reference type name |
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Obsolete, use inq_device_link_ref_sys_grp_uid()
> | 0 Unique ID of sync reference device |
0 | cDevice is not linked, has no reference |
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Obsolete, use inq_device_link_ref_sys_jnt_link_idx()
pointer | to link_vector, KIN_DOFS |
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Obsolete, use inq_device_link_ref_sys_type()
pointer | to linkage reference type |
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Obsolete, use inq_device_link_ref_sys_type_name()
pointer | to linkage reference type name |
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Get current device idx [1..n_devices].
current | device index |
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Get current device unique id.
current | device unique id |
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Get device idx by device name
if 'device name' is not valid, -1 is returned.
[in] | device_name |
device | idx |
-1 | - Error |
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Gets device idx by device unique id
if the uid is not valid, -1 is returned.
[in] | uid | unique id |
device | idx |
-1 | - Error |
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Get device name by device idx [1..n_devices]
if idx is not valid, NULL is returned.
[in] | idx | device idx |
pointer | to char for 'device name' |
NULL | - Error |
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Get device name by device unique id
if uid is not valid, NULL is returned.
[in] | uid | unique id |
pointer | to char for device name |
NULL | - Error |
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Get device unique uid by device idx
if idx is not valid, -1 is returned.
[in] | idx | device idx |
unique | uid |
-1 | - Error |
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Get device unique uid by device name
if 'device name' is not valid, -1 is returned.
[in] | device_name |
unique | uid |
-1 | - Error |
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Get number of current loaded robots in a workcell.
Number | of current loaded robots in a workcell |
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Sets current device idx [1..n_devices].
[in] | device_idx |
0 | - OK |
1 | - Error |
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Sets current device by name of the robot
Remarks
A device name must be unique.
[in] | device_name |
0 | - OK |
1 | - Error |
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Sets current device unique id.
[in] | device_uid |
0 | - OK |
1 | - Error |
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Sets tool data to the device specified by idx
The current device takes over the current tool data of the device tool_device_idx
See also Tool_Device_by_name(), Tool_Device_by_uid()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.
[in] | tool_device_idx | Idx of tool device [1..n_devices] |
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static |
Sets tool data to the device specified by name
The current device takes over the current tool data of the device tool_device_name
See also Tool_Device_by_idx(), Tool_Device_by_uid()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.
[in] | tool_device_name | Name of tool device |
|
static |
Sets tool data to the device specified by unique id
The current device takes over the current tool data of the device tool_device_uid
See also Tool_Device_by_name(), Tool_Device_by_idx()
Remarks
This is not a copy of the tool data.
The new tool data for the current device is calculated by the transformtion from the current device tip to the tcp location of the tool device.
[in] | tool_device_uid | Unique device id |
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static |
Method class for trajectory planning and -execution.
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static |
Method class kinematics and transformations.