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The RMP Motion Controller APIs
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The RMP Motion Controller APIs
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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 | |
| static Robot * | RobotCreate (MotionController *controller, MultiAxis *multiAxis, const char *const modelIdentifier, uint32_t motionFrameBufferSize) |
| Create a Robot object to use G-Code, path motion, etc. More... | |
| static Robot * | RobotCreate (MotionController *controller, MultiAxis *multiAxis, const char *const modelIdentifier) |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| static Robot * | RobotCreate (MotionController *controller, MultiAxis *multiAxis, KinematicModelBuilder *builder, uint32_t motionFrameBufferSize) |
| Create a Robot object to use G-Code, path motion, etc. More... | |
| static void | RobotDelete (MotionController *controller, Robot *robot) |
| Delete a Robot. | |
Functions | |
| PathState | PathStateGet ()=0 |
| Gets the path state of the Robot. More... | |
| bool | PathStateWait (PathState stateWaitFor, uint64_t timeoutMilliseconds)=0 |
| Waits for a specific path state. More... | |
| bool | PathStateWaitChange (PathState stateWaitChange, uint64_t timeoutMilliseconds)=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 timeoutMilliseconds)=0 |
| Waits for the counter to be greater than or euqal to the specified state. More... | |
| bool | MotionCounterWaitChange (uint64_t motionWaitChange, uint64_t timeoutMilliseconds)=0 |
| Waits for the state to change off the specified counter value. More... | |
| bool | IsRunning ()=0 |
| Returns whether or not the robot is in motion (from executor or other source). Can be used to determine if safe to command a new move. More... | |
| bool | PathIsRunning ()=0 |
| Returns whether or not a planned path is being executed. All G-Code gets converted to path. Joint moves aren't path moves. 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 timeoutMilliseconds)=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... | |
| void | Resume ()=0 |
| Resume an axis. More... | |
| void | Stop ()=0 |
| Stop an axis. More... | |
| void | EStopAbort ()=0 |
| E-Stop, then abort an axis. More... | |
| void | Abort ()=0 |
| Abort an axis. More... | |
| void | AmpEnableSet (bool enable, int32_t ampActiveTimoutMilliseconds)=0 |
| Enable all amplifiers. More... | |
| void | EStop ()=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 | 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... | |
| 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... | |
| Pose | ForwardKinematics (double *inJoints, uint16_t inJointsSize)=0 |
| Get the Actual pose of the robot from the the joint MultiAxis positions. More... | |
| const KinematicModel & | ModelGet ()=0 |
| Get the model this robot was created with Visit our Topic Page for more information. | |
| void | GlobalTranformSet (const Pose &transform)=0 |
| Sets the Pose (position and orientation) of the robot in the world. Use this when you want to program in world coordinates. This is Pose is removed from all motion commands to make commands w.r.t robot origin (robot centric) Visit our Topic Page for more information. . | |
| const Pose & | GlobalTranformGet ()=0 |
| Gets the Pose (position and orientation) of the robot in the world. This is Visit our Topic Page for more information. | |
| void | EndEffectorTransformSet (const Pose &transform)=0 |
| End of Robot to TCP. More... | |
| const Pose & | EndEffectorTransformGet ()=0 |
| End of Robot to TCP. | |
| const double | ScaleFactorBetweenUnitsGet (LinearUnits from, LinearUnits to)=0 |
| Gets scaling for scale factor needed to convert from -> to units by multiplying More... | |
| void | Move (const Pose &absolutePose)=0 |
| Executes a point-to-point absolute motion in cartesian space. More... | |
| void | MoveRelative (const Pose &relativePose)=0 |
| Executes a point-to-point motion relative to the current end effector Pose. More... | |
| void | PathClear ()=0 |
| Clears out all loaded lines and arcs from the path. More... | |
| void | PathVelocitySet (double unitsPerSecond)=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 unitsPerSecondSquared)=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 | PathArc (const Pose &target, double radius, RotationDirection direction)=0 |
| void | PathArc (const Pose &target, const Vector3d ¢er, RotationDirection direction)=0 |
| void | PathLine (const Pose &target)=0 |
| void | PathLine (const Pose &target, const Pose &tool_offset)=0 |
| 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... | |
| double | PathProcessLoadedMoves ()=0 |
| Processes our loaded moves. Used internally and to check whether loaded moves are valid, and must be called before both PathPlannedPointsGet and PathDurationGet. | |
| 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 | PathDurationGet ()=0 |
| Get total (seconds) duration of the planned motion that will happen when run is called. More... | |
| void | Run ()=0 |
| Run the loaded path lines/arcs. The behavior is non-blocking. Use Robot.MotionDoneWait() to block. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| uint32_t | MotionFrameBufferSizeGet ()=0 |
| Gets the frame buffer size that is set at creation. More... | |
| 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 unitsPerMinute)=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 | GcodeAccelerationRateSet (double unitsPerMinuteSquared)=0 |
| Sets the target acceleration for the machine (units/minute^2). Should be set apprpriately based on your hardware. More... | |
| double | GcodeAccelerationRateGet ()=0 |
| Gets the target acceleration for the machine (GcodeUnitsGet()/minute^2). 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... | |
| const Pose & | GcodeWorkOffsetValuesGet ()=0 |
| Gets the actual values of the currently applied offset. More... | |
| 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... | |
| 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). | |
| 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 | |
| static constexpr uint64_t | TimeoutForever = 0xFFFFFFFFFFFFFFFF |
| Use this 64-bit value to wait forever in methods which accept a timeoutMilliseconds parameter. | |
Definition at line 549 of file cartesianrobot.h.
1.8.20