Robot

The Robot class for Path, G-Code and RapidRobot motion for any actuator. Use RobotCreate() to make one. Your kinematic model must be supported by RapidCode. More...

Static Functions
Creation Methods
static Robot *	RobotCreate (MotionController *controller, MultiAxis *multiAxis, const char *const model_identifier)
	Create a Robot object to use G-Code, path motion, etc. More...
static void	RobotDelete (MotionController *controller, Robot *robot)
	Delete a Robot.

Functions
State and Status
PathState	PathStateGet ()=0
	Gets the path state of the Robot. More...
bool	PathStateWait (PathState stateWaitFor, uint64_t timeout_ms)=0
	Waits for a specific path state. More...
bool	PathStateWaitChange (PathState stateWaitChange, uint64_t timeout_ms)=0
	Waits for the path state to not be the specified state. More...
uint64_t	MotionCounterGet ()=0
	Gets the current motion counter of the Robot. More...
bool	MotionCounterWait (uint64_t motionWaitFor, uint64_t timeout_ms)=0
	Waits for the counter to be greater than or euqal to the specified state. More...
bool	MotionCounterWaitChange (uint64_t motionWaitChange, uint64_t timeout_ms)=0
	Waits for the state to change off the specified counter value. More...
bool	IsRunning ()=0
	Returns whether or not the executor is executing motion. More...
bool	MotionDoneGet ()=0
	Check to see if motion is done and settled. More...
uint64_t	MotionDoneWait ()=0
	Waits for a move to complete. More...
uint64_t	MotionDoneWait (uint64_t timeout_ms)=0
	Waits for a move to complete. More...
bool	HasError ()=0
	Get the error state of the underlying Trajectory Executor. More...
const char *const	ErrorMessageGet ()=0
	Get the text of any error in the Trajectory Executor. More...
Action
void	PathEStop ()=0
	Commands a joint EStop and clears the loaded moves. More...
void	ClearFaults ()=0
	Clears the MultiAxis fault then the Robot's error bit.
Pose and Position
Pose	ActualPoseGet ()=0
	Get the actual pose of the robot from the trajectory exectutor. More...
Pose	CommandPoseGet ()=0
	Get the commanded pose of the robot from the trajectory exectutor. More...
Pose	PoseFromJointsGet ()=0
	Get the Actual pose of the robot from the the joint MultiAxis positions. More...
void	JointsActualPositionsGet (double *positions, uint16_t sz)=0
	Get the actual position of the axes in the underlying MultiAxis. More...
void	JointsCommandPositionsGet (double *positions, uint16_t sz)=0
	Get the commanded position of the axes in the underlying MultiAxis. More...
void	InverseKinematics (Pose pose, double *outJoints, uint16_t outJointsSize)=0
	Run the given pose through the current inverse kinematic model to see the joint positions the robot would choose. More...
Configuration
const KinematicModel &	ModelGet ()=0
	Get the model this robot was created with Visit our Topic Page for more information.
void	TranformSet (Pose transform)=0
	Set a transform to be applied to all motion commands. More...
Pose	TranformGet ()=0
	Get a transform to be applied to all motion commands Visit our Topic Page for more information.
const double	ScaleFactorBetweenUnitsGet (LinearUnits from, LinearUnits to)=0
	Gets scaling for scale factor needed to convert from -> to units by multiplying More...
Point to Point Motion
void	Move (Pose absolutePose)=0
	Executes a point-to-point absolute motion in cartesian space. More...
void	MoveRelative (Pose relativePose)=0
	Executes a point-to-point motion relative to the current end effector Pose. More...
PathMotion
void	PathClear ()=0
	Clears out all loaded lines and arcs from the path. More...
void	PathVelocitySet (double velocity)=0
	Sets the target linear cartesian velocity for each move (UserUnits/second). More...
double	PathVelocityGet ()=0
	Gets the target velocity for the machine (UserUnits/second). More...
void	PathAccelerationSet (double acceleration)=0
	Sets the target acceleration for the machine (UserUnits/second^2). Should be set apprpriately based on your hardware. More...
double	PathAccelerationGet ()=0
	Gets the target acceleration for the machine (UserUnits/second^2). More...
void	PathProgrammingModeSet (PathMode mode)=0
	Sets the programming mode (Relative/Absolute). More...
PathMode	PathProgrammingModeGet ()=0
	Gets the programming mode (Relative/Absolute). More...
void	PathLine (const Pose &pose)=0
	Appends a line on to the current path with end pose. More...
void	PathLine (const Vector3d &position)=0
	Appends a line on to the current path with end pose. More...
void	PathLine (double x, double y, double z)=0
	Appends a line on to the current path with end x,y,z location. More...
void	PathLineX (double x)=0
	Appends a line on to the current path along x axis. More...
void	PathLineY (double y)=0
	Appends a line on to the current path along y axis. More...
void	PathLineZ (double z)=0
	Appends a line on to the current path along z axis. More...
void	PathLineXY (double x, double y)=0
	Appends a line on to the current path on xy plane. More...
void	PathLineXZ (double x, double z)=0
	Appends a line on to the current path on xz plane. More...
void	PathLineYZ (double y, double z)=0
	Appends a line on to the current path on yz plane. More...
void	PathArc (RotationDirection direction, const Pose &endPose, const Vector3d &center)=0
	Appends an arc on to the current path with end pose about a specific center. More...
void	PathArc (RotationDirection direction, double x, double y, double z, double i, double j, double k)=0
	Appends an arc on to the current path with end pose about a specific center. More...
void	PathArcXY (RotationDirection direction, double x, double y, double i, double j)=0
	Appends an arc on to the current on the XY plane. More...
void	PathArcXY (RotationDirection direction, double x, double y, double radius)=0
	Appends an arc on to the current on the XY plane. More...
void	PathArcXZ (RotationDirection direction, double x, double z, double i, double k)=0
	Appends an arc on to the current on the XZ plane. More...
void	PathArcXZ (RotationDirection direction, double x, double z, double radius)=0
	Appends an arc on to the current on the XZ plane. More...
void	PathArcYZ (RotationDirection direction, double y, double z, double j, double k)=0
	Appends an arc on to the current on the YZ plane. More...
void	PathArcYZ (RotationDirection direction, double y, double z, double radius)=0
	Appends an arc on to the current on the YZ plane. More...
void	PathPlaneSet (Plane plane)=0
	Sets the plane for the purposes of ambigous cases (arcs >= 180deg). Last set plane or XY plane is default. More...
Plane	PathPlaneGet ()=0
	Gets the plane some arcs will be forced to be on. More...
void	PathLinearScalingSet (double scaleFactor)=0
	Sets scaling between the input to path motion and output of path motion to the kinematic model. More...
double	PathLinearScalingGet () const =0
	Gets scaling between input to path motion and output of path motion to the kinematic model. More...
void	PathUnitsSet (LinearUnits units)=0
	Defines the units Cartesian Path Motion is in. More...
LinearUnits	PathUnitsGet () const =0
	Gets the units of path motion. More...
void	PathProcessLoadedMoves ()=0
	Processes our loaded moves. Used internally and to check whether loaded moves are valid, and must be called before both PathPlannedPointsGet and PathLoadedMovesExecutionTimeGet.
uint64_t	PathPlannedPointsGet (double *points, double *times, uint64_t startFrame, uint64_t frameCount)=0
	Get points representing the planned motion in cartesian space that will happen when run is called. More...
double	PathLoadedMovesExecutionTimeGet ()=0
	Get total (seconds) duration of the planned motion that will happen when run is called. More...
void	PathRun (bool blocking)=0
	Run the loaded path lines/arcs. Default behavior is blocking. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
void	PathRun ()=0
G-Code
bool	GcodeFileLoad (const char *const filePath)=0
	Open a file at the specified file path. Calls GcodeStringLoad() with the contents of the file. More...
bool	GcodeStringLoad (const char *const text)=0
	Interpret a string as contents of a G-Code file and prepare it for execution. More...
const char *const	GcodeProgramGet ()=0
	Gets the raw file contents of the last loaded program. More...
void	GcodeFeedRateSet (double feedRate)=0
	Sets the target feed rate for the machine (units/minute). Same as the "F" Command in a G-Code file. More...
double	GcodeFeedrateGet ()=0
	Gets the target feed rate for the machine (GcodeUnitsGet()/minute). More...
void	GcodeAccelerationSet (double acceleration)=0
	Sets the target acceleration for the machine (units/minute^2). Should be set apprpriately based on your hardware. More...
double	GcodeAccelerationGet ()=0
	Gets the target acceleration for the machine (GcodeUnitsGet()/minute^2). More...
void	GcodeRun (bool blocking)=0
	Run the last loaded item. Optional argument to prevent blocking. Check GcodeIsRunning(); to see if execution is done. More...
void	GcodeRun ()=0
	Run the last loaded G-Code lines. Default behavior is blocking. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
int32_t	GcodeExecutingLineNumberGet ()=0
	Returns the line number of the currently executing G-Code line or -1 if there is none. More...
void	GcodeUnitsSet (LinearUnits units)=0
	Set the currently active unit (same as calling G20/G21) More...
LinearUnits	GcodeUnitsGet ()=0
	Get the currently active unit as set by G20/G21. More...
void	GcodeProgrammingModeSet (PathMode mode)=0
	Sets the programming mode (Relative/Absolute). More...
PathMode	GcodeProgrammingModeGet ()=0
	Gets the G-Code programming mode (Relative/Absolute). More...
int32_t	GcodeErrorLineNumberGet ()=0
	Gets the line number of any errors in the G-Code syntax. More...
int32_t	GcodeNumberOfLinesGet ()=0
	Returns the total line number count in the last loaded item. More...
void	GcodeReload ()=0
	Reloads the all lines from the last call to GcodeStringLoad(). Automatically called by GcodeStringLoad(). This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
void	GcodeReload (int32_t startLine, int32_t endLine)=0
	Reloads the lines from the last call to GcodeStringLoad() but only between start and end line numbers. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
void	GcodeReload (int32_t startLine)=0
	Reloads the lines from the last call to GcodeStringLoad() but only between start line and end of file. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
const char *const	GcodeLineTextGet (uint32_t lineNumber)=0
	Gives you the text of a specific line from the last loaded program excluding all comments and with only once space between chunks. More...
void	GcodePlaneSet (Plane plane)=0
	Set the plane for arcs (same as calling G17/G18/G19) More...
void	GcodeWorkOffsetConfigure (GCodeWorkOffset offset, Vector3d offsetValues)=0
	Save an XYZ offset to be used with specified G-Code work offset. More...
void	GcodeWorkOffsetSelect (GCodeWorkOffset offset)=0
	Apply the offset saved under the specified location. More...
GCodeWorkOffset	GcodeWorkOffsetGet ()=0
	Gets the enum representing the location where the current offset is saved. More...
Vector3d	GcodeWorkOffsetValuesGet ()=0
	Gets the actual values of the currently applied offset. More...
Version
const char *const	VersionGet ()
	Get the RSI RapidCode version. More...
int32_t	MpiVersionMajor ()
	Get the major MPI version.
int32_t	MpiVersionMinor ()
	Get the minor MPI version.
int32_t	MpiVersionRelease ()
	Get the release MPI version.
int32_t	RSIVersionMajor ()
	Get the major RSI version.
int32_t	RSIVersionMinor ()
	Get the minor RSI version.
int32_t	RSIVersionMicro ()
	Get the micro RSI version.
int32_t	RSIVersionPatch ()
	Get the patch RSI version.
int32_t	NumberGet ()
	Get the zero-based index of this object. More...
Errors and Exceptions
int32_t	ErrorLogCountGet ()
	Get the number of software errors in the error log. More...
const RsiError *const	ErrorLogGet ()
	Get the next RsiError in the log. More...
void	ErrorLogClear ()
	Clear the error log. More...
void	ThrowExceptions (bool state)
	Configure a class to throw exceptions. More...
const char *const	RsiErrorMessageGet (RSIErrorMessage msg)
	Get the RSI-specific error message text for a specific RSIErrorMessage.
const char *const	ErrorMessageGet (RSIErrorMessage msg)
	Get the detailed text message for an RSIErrorMessage.
bool	WarningMsgCheck (RSIErrorMessage msg)
	Check to see if an RSIErrorMessage is a warning (true) or not (false).
Tracing
void	Trace (bool state)
	Enables/Disables trace output. More...
void	TraceMaskOnSet (RSITrace maskOn)
	Turn on a particular trace output mask. More...
bool	TraceMaskOnGet (RSITrace maskOn)
	Check to see if a particular trace output mask is turned on. More...
void	TraceMaskOffSet (RSITrace maskOff)
	Turn off a particular trace output mask. More...
void	TraceMaskClear ()
	Clear the trace output mask. More...
void	TraceFileSet (const char *const fileName)
	Channels Tracing messages to specified file. More...
void	TraceFileClose ()
	Stops Logging to the file. More...
void	TraceInjectMessage (RSITrace traceLevel, const char *const message)
	Add a message to the Trace Log. More...

Static Attributes
Constants
static constexpr uint64_t	TimeoutForever = 0xFFFFFFFFFFFFFFFF
	Use this 64-bit value to wait forever in methods which accept a timeout_ms parameter.

Description

Definition at line 495 of file cartesianrobot.h.