ER_CAPI_SIM_TRACK Class Reference

Method class for TCP trace, reference and visualization. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SIM_TRACK:

Static Public Member Functions
static ER_DllExport int *	inq_track_ref_sys_type (void)
	Reference type of the tcp trace The reference type (attach location) can be one of the following values. REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT. More...
static ER_DllExport char *	inq_track_ref_sys_type_name (void)
	Reference type name of the tcp trace The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT See also inq_track_ref_sys_type() More...
static ER_DllExport int *	inq_track_ref_sys_grp (void)
	Reference group of tcp trace The reference group depends on the attach location. e.g.: If the cTcp trace is attacehd to another robot, the returned reference group will ROBOT_GRP If the cTcp trace 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_track_ref_sys_grp_uid (void)
	Unique ID of reference device/robot The Unique ID depends on the attach location. More...
static ER_DllExport int *	inq_track_ref_sys_jnt_idx (void)
	Reference joint idx of the cTcp trace, 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 cTcp trace is attached to the robot base or if the reference type is not REF_JNT. More...
static ER_DllExport char *	inq_track_ref_sys_name (void)
	Reference name of the tcp trace The reference type name (name of attach location) depends of one of the following values. REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT See also inq_track_ref_sys_type(), inq_track_ref_sys_type_name() More...
static ER_DllExport int *	inq_track_color (void)
	Tcp trace color. More...
static ER_DllExport int *	inq_track_dyn_color (void)
	Dynamics Tcp trace color. More...
static ER_DllExport int *	inq_rob_track_bits (void)
	Set the Tcp trace attribute Bits. More...
static ER_DllExport int *	inq_rob_track_dyn_bits (void)
	Set the Dynamics Tcp trace attribute Bits. More...
static ER_DllExport int *	inq_rob_track_vis (void)
	Tcp trace visibility for cRobot. More...
static ER_DllExport int *	inq_rob_track_dyn_vis (void)
	Dynamics Tcp trace visibility. More...
static ER_DllExport int *	inq_rob_track_vis_attrib (void)
	Tcp trace attributes visibility for cRobot. More...
static ER_DllExport int *	inq_rob_track_dyn_vis_attrib (void)
	Dynamics Tcp trace attributes visibility for cRobot. More...
static ER_DllExport void	track_reset (int dyn=0)
	Deletes the Tcp trace for the current device. More...
Static Public Member Functions inherited from ER_CAPI_SIM
static ER_DllExport float *	inq_sim_time (void)
	Global simulation time [s]. More...
static ER_DllExport float *	inq_sim_step (void)
	Sample rate simulation step size [s]. More...
static ER_DllExport int	LoadToolFileRun (char *fln)
	Load a tool file '.tol' while program is running. More...
static ER_DllExport int	AuxUpdate (int idx, int sub_idx=0)
	Forces an AuxUpdate() call Parameter idx is one of AUX_UPDATE_IDX_SIMUPDATE to AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED Parameter sub_idx is an user defined individual index passed through all other API-UserDLL. More...
static ER_DllExport int	StartCondition_ResetSave (int start_condition=START_CONDITION_RESET_ALL_ROBOTS)
	Reset or Save the Start Conditions for the current or all robots Parameter start_condition is bitwise inclusive OR operator (|) of START_CONDITION_RESET to START_CONDITION_ENVIRONMENT_BODIES. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_SIM
static ER_CAPI_SIM_MONITORING	er_capi_sim_monitoring
	Method class for monitoring of travel ranges, speeds, etc. More...
static ER_CAPI_SIM_COLLISION	er_capi_sim_collision
	Method class for collision, tolerances, etc. More...
static ER_CAPI_SIM_CAMERA	er_capi_sim_camera
	Method class for camera settings. More...
static ER_CAPI_SIM_ERPL	er_capi_sim_erpl
	ethod class for executing ERPL- and ERCL commands More...
static ER_CAPI_SIM_TRACK	er_capi_sim_track
	Method class for TCP trace, reference and visualization. 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...

Detailed Description

Method class for TCP trace, reference and visualization.

Member Function Documentation

inq_rob_track_bits()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_bits ( void  )

static

Set the Tcp trace attribute Bits.

Return values

pointer

to bit array

inq_rob_track_dyn_bits()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_bits ( void  )

static

Set the Dynamics Tcp trace attribute Bits.

Return values

pointer

to bit array

inq_rob_track_dyn_vis()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_vis ( void  )

static

Dynamics Tcp trace visibility.

Return values

0	- Invisible
1	- Visible

inq_rob_track_dyn_vis_attrib()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_dyn_vis_attrib ( void  )

static

Dynamics Tcp trace attributes visibility for cRobot.

Return values

0	- Invisible
1	- Visible

inq_rob_track_vis()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_vis ( void  )

static

Tcp trace visibility for cRobot.

Return values

0	- Invisible
1	- Visible

inq_rob_track_vis_attrib()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_rob_track_vis_attrib ( void  )

static

Tcp trace attributes visibility for cRobot.

Return values

0	- Invisible
1	- Visible

inq_track_color()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_color ( void  )

static

Tcp trace color.

Return values

>=0	- standard color ER_BLACK, ER_BLUE ... ER_WHITE or an 7 Bit based RGB color index
-1	- ER_ALTERNATE
-2	- ER_INVISIBLE

inq_track_dyn_color()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_dyn_color ( void  )

static

Dynamics Tcp trace color.

Return values

>=0	- standard color ER_BLACK, ER_BLUE ... ER_WHITE or an 7 Bit based RGB color index
-1	- ER_ALTERNATE
-2	- ER_INVISIBLE

inq_track_ref_sys_grp()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_grp ( void  )

static

Reference group of tcp trace
The reference group depends on the attach location.
e.g.: If the cTcp trace is attacehd to another robot, the returned reference group will ROBOT_GRP
If the cTcp trace 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.

Return values

pointer

to reference group

inq_track_ref_sys_grp_uid()

static ER_DllExport ER_UID* ER_CAPI_SIM_TRACK::inq_track_ref_sys_grp_uid ( void  )

static

Unique ID of reference device/robot
The Unique ID depends on the attach location.

Return values

>	0 Unique ID
0	Tcp trace is not attached, has no reference

inq_track_ref_sys_jnt_idx()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_jnt_idx ( void  )

static

Reference joint idx of the cTcp trace, 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 cTcp trace is attached to the robot base or if the reference type is not REF_JNT.

Return values

joint

reference index

inq_track_ref_sys_name()

static ER_DllExport char* ER_CAPI_SIM_TRACK::inq_track_ref_sys_name ( void  )

static

Reference name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type(), inq_track_ref_sys_type_name()

Return values

pointer

to char of reference name

inq_track_ref_sys_type()

static ER_DllExport int* ER_CAPI_SIM_TRACK::inq_track_ref_sys_type ( void  )

static

Reference type of the tcp trace
The reference type (attach location) can be one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT.

Return values

pointer

to reference type

inq_track_ref_sys_type_name()

static ER_DllExport char* ER_CAPI_SIM_TRACK::inq_track_ref_sys_type_name ( void  )

static

Reference type name of the tcp trace
The reference type name (name of attach location) depends of one of the following values.
REF_NO_REF, REF_BASE, REF_WORLD, REF_JNT
See also inq_track_ref_sys_type()

Return values

pointer

to reference type name

track_reset()

static ER_DllExport void ER_CAPI_SIM_TRACK::track_reset ( int  dyn = 0 )

static

Deletes the Tcp trace for the current device.

Parameters

[in]

dyn

set 1 to reset the dynamics tcp trace, otherwise 0

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

• ER_CAPI.H