TheItemclass represents an item inRoboDK年代tation. An item can be a robot, a frame, a tool, an object, a target, ... any item visible in the年代tation tree. An item can also be seen as a node where other items can be attached to (child items). Every item has one parent item/node and can have one or more child items/nodes.More...

#include <robodk_api.h>

Public Member Functions
	Item(RoboDK*rdk=nullptr, quint64 ptr=0, qint32 type=-1)

	Item(constItem&other)

Item&	operator=(constItem&x)=default

QString	ToString() const

RoboDK*	RDK()
	Returns theRoboDKlink Robolink().More...

void	NewLink()
	Create a new communication link forRoboDK. Use this for robots if you use a multithread application running multiple robots at the same time.More...

int	Type() const
	Itemtype (object, robot, tool, reference, robot machining project, ...)More...

void	Save(const QString &filename)
	Save a station, a robot, a tool or an object to a fileMore...

void	删除()
	删除年代an item and its childs from the station.More...

bool	Valid(bool check_pointer=false) const
	Check if an item is valid (not null and available in the open station)More...

void	年代etParent(Itemparent)
	Attaches the item to a new parent while maintaining the relative position with its parent. The absolute position is changed.More...

void	年代etParentStatic(Itemparent)
	Attaches the item to another parent while maintaining the current absolute position in the station. The relationship between this item and its parent is changed to maintain the abosolute position.More...

Item	AttachClosest()
	Attach the closest object to the tool. Returns the item that was attached.More...

Item	DetachClosest(Itemparent)
	Detach the closest object attached to the tool (see also setParentStatic).More...

void	DetachAll(Itemparent)
	Detach any object attached to a tool.More...

Item	Parent() const
	Return the parent item of this itemMore...

QList<Item>	Childs() const
	Returns a list of the item childs that are attached to the provided item.More...

bool	Visible() const
	Returns 1 if the item is visible, otherwise, returns 0.More...

void	年代etVisible(bool visible, int visible_frame=-1)
	Sets the item visiblity statusMore...

QString	Name() const
	Returns the name of an item. The name of the item is always displayed in theRoboDK年代tation treeMore...

void	年代etName(const QString &name)
	Set the name of aRoboDKitem.More...

void	年代etPose(constMatpose)
	Sets the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will set the pose of the end efector.More...

Mat	Pose() const
	Returns the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will get the pose of the end efectorMore...

void	年代etGeometryPose(constMatpose)
	Sets the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.More...

Mat	GeometryPose()
	Returns the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.More...

Mat	PoseTool()
	Returns the tool pose of an item. If a robot is provided it will get the tool pose of the active tool held by the robot.More...

Mat	PoseFrame()
	Returns the reference frame pose of an item. If a robot is provided it will get the tool pose of the active reference frame used by the robot.More...

void	年代etPoseFrame(constMatframe_pose)
	Sets the reference frame of a robot(user frame). The frame can be either an item or a pose. If "frame" is an item, it links the robot to the frame item. If frame is a pose, it updates the linked pose of the robot frame (with respect to the robot reference frame).More...

void	年代etPoseFrame(constItemframe_item)
	设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.More...

void	年代etPoseTool(constMattool_pose)
	设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.More...

void	年代etPoseTool(constItemtool_item)
	设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.More...

void	年代etPoseAbs(constMatpose)
	Sets the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.More...

Mat	PoseAbs()
	Returns the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.More...

void	年代etColor(double colorRGBA[4])
	Changes the color of a robot/object/tool. A color must must in the format COLOR=[R,G,B,(A=1)] where all values range from 0 to 1. Alpha (A) defaults to 1 (100% opaque). Set A to 0 to make an object transparent.More...

void	Scale(double scale)
	Apply a scale to an object to make it bigger or smaller. The scale can be uniform (if scale is a float value) or per axis (if scale is a vector).More...

void	Scale(double scale_xyz[3])
	Apply a per-axis scale to an object to make it bigger or smaller. The scale can be uniform (if scale is a float value) or per axis (if scale is a vector).More...

Item	年代etMachiningParameters(QString ncfile="",Itempart_obj=nullptr, QString options="")
	Update the robot milling path input and parameters. Parameter input can be an NC file (G-code or APT file) or an object item inRoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project. Tip: UsegetLink()and setLink() to get/set the robot tool, reference frame, robot and program linked to the project. Tip: Use年代etPose()and年代etJoints()to update the path to tool orientation or the preferred start joints. Tip: Use年代etPoseTool()and年代etPoseFrame()to link to the corresponding tool and reference frames.More...

void	年代etAsCartesianTarget()
	Sets a target as a cartesian target. A cartesian target moves to cartesian coordinates.More...

void	年代etAsJointTarget()
	Sets a target as a joint target. A joint target moves to a joints position without regarding the cartesian coordinates.More...

bool	isJointTarget() const
	Returns True if a target is a joint target (green icon). Otherwise, the target is a Cartesian target (red icon).More...

tJoints	Joints() const
	Returns the current joints of a robot or the joints of a target. If the item is a cartesian target, it returns the preferred joints (configuration) to go to that cartesian position.More...

tJoints	JointsHome() const
	Returns the home joints of a robot. These joints can be manually set in the robot "Parameters" menu, then select "Set home position"More...

void	年代etJointsHome(consttJoints&jnts)
	Set robot joints for the home positionMore...

Item	ObjectLink(int link_id=0)
	Returns an item pointer to the geometry of a robot link. This is useful to show/hide certain robot links or alter their geometry.More...

Item	getLink(int type_linked=RoboDK::ITEM_TYPE_ROBOT)
	Returns an item linked to a robot, object, tool, program or robot machining project. This is useful to retrieve the relationship between programs, robots, tools and other specific projects.More...

void	年代etJoints(consttJoints&jnts)
	Set robot joints or the joints of a targetMore...

void	JointLimits(tJointslower_limits,tJointsupper_limits)
	Retrieve the joint limits of a robotMore...

void	年代etJointLimits(consttJoints&lower_limits, consttJoints&upper_limits)
	Set the joint limits of a robotMore...

void	年代etRobot(constItem&robot)
	Sets the robot of a program or a target. You must set the robot linked to a program or a target every time you copy paste these objects. If the robot is not provided, the first available robot will be chosen automatically.More...

Item	AddTool(constMat&tool_pose, const QString &tool_name="New TCP")
	Adds an empty tool to the robot provided the tool pose (4x4 Matrix) and the tool name.More...

Mat	SolveFK(consttJoints&joints, constMattool=nullptr, constMatref=nullptr)
	Computes the forward kinematics of the robot for the provided joints. The tool and the reference frame are not taken into account.More...

void	JointsConfig(consttJoints&joints,tConfigconfig)
	Returns the robot configuration state for a set of robot joints.More...

tJoints	SolveIK(constMat&pose, constMattool=nullptr, constMatref=nullptr)
	This function calculates the inverse kinematics for a pose. The joints returned are the closest to the current robot configuration (seeSolveIK_All()). If the pose is not reachable, the length of the returned joints is 0.More...

tJoints	SolveIK(constMatpose,tJointsjoints_approx, constMattool=nullptr, constMatref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (seeSolveIK_All())More...

tMatrix2D*	SolveIK_All_Mat2D(constMat&pose, constMattool=nullptr, constMatref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.More...

QList<tJoints>	SolveIK_All(constMat&pose, constMattool=nullptr, constMatref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.More...

bool	Connect(const QString &robot_ip="")
	Connect to a real robot using the corresponding robot driver.More...

bool	Disconnect()
	Disconnect from a real robot (when the robot driver is used)More...

void	MoveJ(constItem&itemtarget, bool blocking=true)
	Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveJ can also be applied to programs and a new movement instruction will be added.More...

void	MoveJ(consttJoints&joints, bool blocking=true)
	Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveJ(constMat&target, bool blocking=true)
	Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveL(constItem&itemtarget, bool blocking=true)
	Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveL can also be applied to programs and a new movement instruction will be added.More...

void	MoveL(consttJoints&joints, bool blocking=true)
	Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveL(constMat&target, bool blocking=true)
	Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveC(constItem&itemtarget1, constItem&itemtarget2, bool blocking=true)
	Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveC(consttJoints&joints1, consttJoints&joints2, bool blocking=true)
	Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.More...

void	MoveC(constMat&target1, constMat&target2, bool blocking=true)
	Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.More...

int	MoveJ_Test(consttJoints&j1, consttJoints&j2, double minstep_deg=-1)
	Checks if a joint movement is possible and, optionally, free of collisions.More...

int	MoveL_Test(consttJoints&joints1, constMat&pose2, double minstep_mm=-1)
	Checks if a linear movement is free of issues and, optionally, collisions.More...

void	年代etSpeed(double speed_linear, double accel_linear=-1, double speed_joints=-1, double accel_joints=-1)
	Sets the speed and/or the acceleration of a robot.More...

void	年代etRounding(double zonedata)
	Sets the robot movement smoothing accuracy (also known as zone data value).More...

void	ShowSequence(tMatrix2D*sequence)
	Displays a sequence of jointsMore...

bool	Busy()
	Checks if a robot or program is currently running (busy or moving)More...

void	Stop()
	Stops a program or a robotMore...

void	WaitMove(double timeout_sec=300) const
	Waits (blocks) until the robot finishes its movement.More...

void	年代etAccuracyActive(int accurate=1)
	集机器人活动或非活动的准确性。A robot must have been calibrated to properly use this option.More...

bool	MakeProgram(const QString &filename)
	Saves a program to a file.More...

void	年代etRunType(int program_run_type)
	Sets if the program will be run in simulation mode or on the real robot. Use: "PROGRAM_RUN_ON_SIMULATOR" to set the program to run on the simulator only or "PROGRAM_RUN_ON_ROBOT" to force the program to run on the robot.More...

int	RunProgram()
	Runs a program. It returns the number of instructions that can be executed successfully (a quick program check is performed before the program starts) This is a non-blocking call. Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used -> the program will run on the robot (default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in theRoboDKGUIMore...

int	RunCode(const QString ¶meters)
	Runs a program. It returns the number of instructions that can be executed successfully (a quick program check is performed before the program starts) Program parameters can be provided for Python calls. This is a non-blocking call.Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used ->the program will run on the robot(default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in theRoboDKGUIMore...

int	RunInstruction(const QString代码,int run_type =RoboDK::INSTRUCTION_CALL_PROGRAM)
	Adds a program call, code, message or comment inside a program.More...

void	Pause(double time_ms=-1)
	Generates a pause instruction for a robot or a program when generating code. Set it to -1 (default) if you want the robot to stop and let the user resume the program anytime.More...

void	年代etDO(const QString &io_var, const QString &io_value)
	Sets a variable (output) to a given value. This can also be used to set any variables to a desired value.More...

void	年代etAO(const QString &io_var, const QString &io_value)
	Set an analog OutputMore...

QString	getDI(const QString &io_var)
	Get a Digital Input (DI). This function is only useful when connected to a real robot using the robot driver. It returns a string related to the state of the Digital Input (1=True, 0=False). This function returns an empty string if the script is not executed on the robot.More...

QString	getAI(const QString &io_var)
	Get an Analog Input (AI). This function is only useful when connected to a real robot using the robot driver. It returns a string related to the state of the Digital Input (0-1 or other range depending on the robot driver). This function returns an empty string if the script is not executed on the robot.More...

void	waitDI(const QString &io_var, const QString &io_value, double timeout_ms=-1)
	Waits for an input io_id to attain a given value io_value. Optionally, a timeout can be provided.More...

void	customInstruction(const QString &name, const QString &path_run, const QString &path_icon="", bool blocking=true, const QString &cmd_run_on_robot="")
	Add a custom instruction. This instruction will execute a Python file or an executable file.More...

void	ShowInstructions(bool visible=true)
	Show or hide instruction items of a program in theRoboDKtreeMore...

void	ShowTargets(bool visible=true)
	Show or hide targets of a program in theRoboDKtreeMore...

int	InstructionCount()
	Returns the number of instructions of a program.More...

void	Instruction(int ins_id, QString &name, int &instype, int &movetype, bool &isjointtarget,Mat&target,tJoints&joints)
	Returns the program instruction at position idMore...

void	年代etInstruction(int ins_id, const QString &name, int instype, int movetype, bool isjointtarget, constMat&target, consttJoints&joints)
	Sets the program instruction at position idMore...

int	InstructionList(tMatrix2D*instructions)
	Returns the list of program instructions as an MxN matrix, where N is the number of instructions and M equals to 1 plus the number of robot axes.More...

double	Update(int collision_check=RoboDK::COLLISION_OFF, int timeout_sec=3600, double *out_nins_time_dist=nullptr, double mm_step=-1, double deg_step=-1)
	Updates a program and returns the estimated time and the number of valid instructions. An update can also be applied to a robot machining project. The update is performed on the generated program.More...

int	InstructionListJoints(QString &error_msg,tMatrix2D**joint_list, double mm_step=10.0, double deg_step=5.0, const QString &save_to_file="", bool collision_check=false, int flags=0, double time_step_s=0.1)
	Returns a list of joints an MxN matrix, where M is the number of robot axes plus 4 columns. Linear moves are rounded according to the smoothing parameter set inside the program.More...

QString	年代etParam(const QString ¶m, const QString &value)
	Set a specific item parameter. SelectTools-Run Script-Show Commandsto see all available commands for items and the station. Note: For parameters (commands) that require a JSON string value you can also provide a dict.More...

bool	Finish()
	Disconnect from theRoboDKAPI. This flushes any pending program generation.More...

quint64	GetID()
	Get the item pointer.

Private Attributes
RoboDK*	_RDK
	Pointer toRoboDKlink object.

quint64	_PTR
	指针里面的物品RoboDK.

qint32	_TYPE
	Itemtype.

Friends
class	RoboDK_API::RoboDK

Detailed Description

TheItemclass represents an item inRoboDK年代tation. An item can be a robot, a frame, a tool, an object, a target, ... any item visible in the年代tation tree. An item can also be seen as a node where other items can be attached to (child items). Every item has one parent item/node and can have one or more child items/nodes.

Definition at line1739of filerobodk_api.h.

Member Function Documentation

◆AddTool()

ItemAddTool	(	constMat&	tool_pose,
		const QString &	tool_name=`"New TCP"`
	)

Adds an empty tool to the robot provided the tool pose (4x4 Matrix) and the tool name.

Parameters

tool_pose	TCP as a 4x4 Matrix (pose of the tool frame)
tool_name	New tool name

Returns: new item created

Parameters

tool_pose	pose -> TCP as a 4x4 Matrix (pose of the tool frame)
tool_name	New tool name

Returns: new item created

Definition at line1222of filerobodk_api.cpp.

◆AttachClosest()

ItemAttachClosest ( )

Attach the closest object to the tool. Returns the item that was attached.

Returns: Attached item

Definition at line672of filerobodk_api.cpp.

◆Busy()

bool Busy ( )

Checks if a robot or program is currently running (busy or moving)

Returns: busy status (true=moving, false=stopped)

Definition at line1583of filerobodk_api.cpp.

◆Childs()

QList<Item> Childs ( ) const

Returns a list of the item childs that are attached to the provided item.

Returns: item x n: list of child items

add more methods

Returns: item x n -> list of child items

Definition at line726of filerobodk_api.cpp.

◆Connect()

bool Connect ( const QString & robot_ip="" )

Connect to a real robot using the corresponding robot driver.

Connect to a real robot using the robot driver.

Parameters

robot_ip IP of the robot to connect. Leave empty to use the one defined inRoboDK

Returns: true if connected successfully, false if connection failed

Parameters

robot_ip IP of the robot to connect. Leave empty to use the one defined inRoboDK

Returns: 年代tatus -> true if connected successfully, false if connection failed

Definition at line1366of filerobodk_api.cpp.

◆customInstruction()

void customInstruction	(	const QString &	name,
		const QString &	path_run,
		const QString &	path_icon=`""`,
		bool	blocking=`true`,
		const QString &	cmd_run_on_robot=`""`
	)

Add a custom instruction. This instruction will execute a Python file or an executable file.

Parameters

name
path_run	path to run(relative to RoboDK/bin folder or absolute path)
path_icon	icon path(relative to RoboDK/bin folder or absolute path)
blocking	True if blocking, 0 if it is a non blocking executable trigger
cmd_run_on_robot	Command to run through the driver when connected to the robot

:param name: digital input (string or number)

Definition at line1826of filerobodk_api.cpp.

◆删除()

无效的删除 ( )

删除年代an item and its childs from the station.

Definition at line624of filerobodk_api.cpp.

◆DetachAll()

void DetachAll ( Item parent )

Detach any object attached to a tool.

Definition at line698of filerobodk_api.cpp.

◆DetachClosest()

ItemDetachClosest ( Item parent )

Detach the closest object attached to the tool (see also setParentStatic).

Returns: Detached item

Definition at line685of filerobodk_api.cpp.

◆Disconnect()

bool Disconnect ( )

Disconnect from a real robot (when the robot driver is used)

Returns: true if disconnected successfully, false if it failed. It can fail if it was previously disconnected manually for example.

Returns: 年代tatus -> true if disconnected successfully, false if it failed. It can fail if it was previously disconnected manually for example.

Definition at line1380of filerobodk_api.cpp.

◆Finish()

bool Finish ( )

Disconnect from theRoboDKAPI. This flushes any pending program generation.

Returns

Definition at line2075of filerobodk_api.cpp.

◆GeometryPose()

MatGeometryPose ( )

Returns the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.

Returns: 4x4 homogeneous matrix (pose)

Definition at line840of filerobodk_api.cpp.

◆getAI()

QString getAI ( const QString & io_var )

Get an Analog Input (AI). This function is only useful when connected to a real robot using the robot driver. It returns a string related to the state of the Digital Input (0-1 or other range depending on the robot driver). This function returns an empty string if the script is not executed on the robot.

Parameters

io_var io_var -> analog input (string or number as a string)

Definition at line1790of filerobodk_api.cpp.

◆getDI()

QString getDI ( const QString & io_var )

Get a Digital Input (DI). This function is only useful when connected to a real robot using the robot driver. It returns a string related to the state of the Digital Input (1=True, 0=False). This function returns an empty string if the script is not executed on the robot.

Parameters

io_var io_var -> digital input (string or number as a string)

Definition at line1776of filerobodk_api.cpp.

◆getLink()

ItemgetLink ( int type_linked=RoboDK::ITEM_TYPE_ROBOT )

Returns an item linked to a robot, object, tool, program or robot machining project. This is useful to retrieve the relationship between programs, robots, tools and other specific projects.

Returns an item pointer (Itemclass) to a robot, object, tool or program. This is useful to retrieve the relationship between programs, robots, tools and other specific projects.

Parameters

type_linked type of linked object to retrieve

Returns: Linked object

Parameters

type_linked type of linked object to retrieve

Returns

Definition at line1149of filerobodk_api.cpp.

◆Instruction()

void Instruction	(	int	ins_id,
		QString &	name,
		int &	instype,
		int &	movetype,
		bool &	isjointtarget,
		Mat&	target,
		tJoints&	joints
	)

Returns the program instruction at position id

Parameters

ins_id
name
instype
movetype
isjointtarget
target
joints

Definition at line1916of filerobodk_api.cpp.

◆InstructionCount()

int InstructionCount ( )

Returns the number of instructions of a program.

Returns

ADD MORE METHODS

Returns

Definition at line1897of filerobodk_api.cpp.

◆InstructionList()

int InstructionList ( tMatrix2D* instructions )

Returns the list of program instructions as an MxN matrix, where N is the number of instructions and M equals to 1 plus the number of robot axes.

Parameters

instructions the matrix of instructions

Returns: Returns 0 if success

Definition at line1969of filerobodk_api.cpp.

◆InstructionListJoints()

int InstructionListJoints	(	QString &	error_msg,
		tMatrix2D**	joint_list,
		double	mm_step=`10.0`,
		double	deg_step=`5.0`,
		const QString &	年代ave_to_file=`""`,
		bool	上校lision_check=`false`,
		int	result_flag=`0`,
		double	time_step_s=`0.1`
	)

Returns a list of joints an MxN matrix, where M is the number of robot axes plus 4 columns. Linear moves are rounded according to the smoothing parameter set inside the program.

Parameters

error_msg	Returns a human readable error message (if any)
joint_list	Returns the list of joints as [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID] if a file name is not specified

If flags == LISTJOINTS_SPEED: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn] If flags == LISTJOINTS_ACCEL: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn, Accel_J1, Accel_J2, ..., Accel_Jn]

Parameters

mm_step	Maximum step in millimeters for linear movements (millimeters)
deg_step	Maximum step for joint movements (degrees)
年代ave_to_file	Provide a file name to directly save the output to a file. If the file name is not provided it will return the matrix. If step values are very small, the returned matrix can be very large.
上校lision_check	Check for collisions
result_flag	年代et to 1 to include the timings between movements, set to 2 to also include the joint speeds (deg/s), set to 3 to also include the accelerations, set to 4 to include all previous information and make the splitting time-based.
time_step_s	(optional) set the time step in seconds for time based calculation. This value is only used when the result flag is set to 4 (time based).

Returns: Returns 0 if success, otherwise, it will return negative values

Parameters

error_msg	Returns a human readable error message (if any)
joint_list	Returns the list of joints as [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID] if a file name is not specified
mm_step	Maximum step in millimeters for linear movements (millimeters)
deg_step	Maximum step for joint movements (degrees)
年代ave_to_file	Provide a file name to directly save the output to a file. If the file name is not provided it will return the matrix. If step values are very small, the returned matrix can be very large.
上校lision_check	Check for collisions
result_flag	年代et to 1 to include the timings between movements, set to 2 to also include the joint speeds (deg/s), set to 3 to also include the accelerations, set to 4 to include all previous information and make the splitting time-based.
time_step_s	(optional) set the time step in seconds for time based calculation. This value is only used when the result flag is set to 4 (time based).

Returns: Returns 0 if success, otherwise, it will return negative values

Definition at line2030of filerobodk_api.cpp.

◆isJointTarget()

bool isJointTarget ( ) const

Returns True if a target is a joint target (green icon). Otherwise, the target is a Cartesian target (red icon).

Definition at line1075of filerobodk_api.cpp.

◆JointLimits()

void JointLimits	(	tJoints*	lower_limits,
		tJoints*	upper_limits
	)

Retrieve the joint limits of a robot

Returns the joint limits of a robot

Parameters

lower_limits
upper_limits

Definition at line1177of filerobodk_api.cpp.

◆Joints()

tJointsJoints ( ) const

Returns the current joints of a robot or the joints of a target. If the item is a cartesian target, it returns the preferred joints (configuration) to go to that cartesian position.

Returns: double x n: joints matrix

Returns: double x n -> joints matrix

Definition at line1090of filerobodk_api.cpp.

◆JointsConfig()

void JointsConfig	(	consttJoints&	joints,
		tConfig	config
	)

Returns the robot configuration state for a set of robot joints.

Parameters

joints	array of joints
config	configuration status as [REAR, LOWERARM, FLIP]

Parameters

joints array of joints

Returns: 3-array -> configuration status as [REAR, LOWERARM, FLIP]

Definition at line1260of filerobodk_api.cpp.

◆JointsHome()

tJointsJointsHome ( ) const

Returns the home joints of a robot. These joints can be manually set in the robot "Parameters" menu, then select "Set home position"

Returns: joint values for the home position

Returns: double x n -> joints array

Definition at line1106of filerobodk_api.cpp.

◆MakeProgram()

bool MakeProgram ( const QString & filename )

Saves a program to a file.

Parameters

filename	File path of the program
run_mode	RUNMODE_MAKE_ROBOTPROG to generate the program file.Alternatively, Use RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD or RUNMODE_MAKE_ROBOTPROG_AND_START to transfer the program through FTP and execute the program.

Returns: Transfer succeeded is True if there was a successful program transfer (if RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD or RUNMODE_MAKE_ROBOTPROG_AND_START are used)

Parameters

filename File path of the program

Returns: 年代uccess

Definition at line1645of filerobodk_api.cpp.

◆MoveC()[1/3]

void MoveC	(	constItem&	itemtarget1,
		constItem&	itemtarget2,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Parameters

itemtarget1	Intermediate target to move to as a target item (RoboDKtarget item)
itemtarget2	Final target to move to as a target item (RoboDKtarget item)

Parameters

itemtarget1	target -> intermediate target to move to as a target item (RoboDKtarget item)
itemtarget2	target -> final target to move to as a target item (RoboDKtarget item)
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1467of filerobodk_api.cpp.

◆MoveC()[2/3]

void MoveC	(	constMat&	target1,
		constMat&	target2,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Parameters

target1	Intermediate pose target to move to. It must be a 4x4 Homogeneous matrix
target2	Final pose target to move to. It must be a 4x4 Homogeneous matrix

Parameters

target1	pose -> intermediate pose target to move to. It must be a 4x4 Homogeneous matrix
target2	pose -> final pose target to move to. It must be a 4x4 Homogeneous matrix
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1487of filerobodk_api.cpp.

◆MoveC()[3/3]

void MoveC	(	consttJoints&	joints1,
		consttJoints&	joints2,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Parameters

joints1	Intermediate joint target to move to.
joints2	Final joint target to move to.

Parameters

joints1	joints -> intermediate joint target to move to.
joints2	joints -> final joint target to move to.
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1477of filerobodk_api.cpp.

◆MoveJ()[1/3]

void MoveJ	(	constItem&	itemtarget,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveJ can also be applied to programs and a new movement instruction will be added.

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.

Parameters

target Target to move to as a target item (RoboDKtarget item)

Parameters

target	target -> target to move to as a target item (RoboDKtarget item)
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1394of filerobodk_api.cpp.

◆MoveJ()[2/3]

void MoveJ	(	constMat&	target,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.

Parameters

target Pose target to move to. It must be a 4x4 Homogeneous matrix

Parameters

target	pose -> pose target to move to. It must be a 4x4 Homogeneous matrix
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1421of filerobodk_api.cpp.

◆MoveJ()[3/3]

void MoveJ	(	consttJoints&	joints,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.

Parameters

target Robot joints to move to

Parameters

target	joints -> joint target to move to.
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1412of filerobodk_api.cpp.

◆MoveJ_Test()

int MoveJ_Test	(	consttJoints&	j1,
		consttJoints&	j2,
		double	minstep_deg=`-1`
	)

Checks if a joint movement is possible and, optionally, free of collisions.

Checks if a joint movement is free of collision.

Parameters

j1	Start joints
j2	Destination joints
minstep_deg	Maximum joint step in degrees. If this value is not provided it will use the path step defined in Tools-Options-Motion (degrees).

Returns: 上校lision : returns 0 if the movement is free of collision. Otherwise it returns the number of pairs of objects that collided if there was a collision.

Parameters

j1	joints -> start joints
j2	joints -> destination joints
minstep_deg	(optional): maximum joint step in degrees

Returns: 上校lision : returns 0 if the movement is free of collision. Otherwise it returns the number of pairs of objects that collided if there was a collision.

Definition at line1498of filerobodk_api.cpp.

◆MoveL()[1/3]

void MoveL	(	constItem&	itemtarget,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveL can also be applied to programs and a new movement instruction will be added.

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.

Parameters

itemtarget Target to move to as a target item (RoboDKtarget item)

Parameters

itemtarget	target -> target to move to as a target item (RoboDKtarget item)
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1430of filerobodk_api.cpp.

◆MoveL()[2/3]

void MoveL	(	constMat&	target,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.

Parameters

target Pose target to move to. It must be a 4x4 Homogeneous matrix

Parameters

target	pose -> pose target to move to. It must be a 4x4 Homogeneous matrix
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1457of filerobodk_api.cpp.

◆MoveL()[3/3]

void MoveL	(	consttJoints&	joints,
		bool	blocking=`true`
	)

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.

Parameters

joints Robot joints to move to

Parameters

joints	joints -> joint target to move to.
blocking	blocking -> True if we want the instruction to block until the robot finished the movement (default=true)

Definition at line1448of filerobodk_api.cpp.

◆MoveL_Test()

int MoveL_Test	(	consttJoints&	j1,
		constMat&	pose2,
		double	minstep_deg=`-1`
	)

Checks if a linear movement is free of issues and, optionally, collisions.

Checks if a linear movement is free of collision.

Parameters

joints1	Start joints
pose2	Destination pose (active tool with respect to the active reference frame)
minstep_mm	Maximum joint step in mm. If this value is not provided it will use the path step defined in Tools-Options-Motion (mm).

Returns: 上校lision : returns 0 if the movement is free of collision. Otherwise it returns the number of pairs of objects that collided if there was a collision.

Parameters

j1	joints -> start joints
pose2	joints -> destination pose (active tool with respect to the active reference frame)
minstep_mm	(optional): maximum joint step in degrees

Returns: 上校lision : returns 0 if the movement is free of collision. Otherwise it returns the number of pairs of objects that collided if there was a collision.

Definition at line1519of filerobodk_api.cpp.

◆Name()

QString Name ( ) const

Returns the name of an item. The name of the item is always displayed in theRoboDK年代tation tree

Returns: name of the item

Definition at line774of filerobodk_api.cpp.

◆NewLink()

void NewLink ( )

Create a new communication link forRoboDK. Use this for robots if you use a multithread application running multiple robots at the same time.

Definition at line593of filerobodk_api.cpp.

◆ObjectLink()

ItemObjectLink ( int link_id=0 )

Returns an item pointer to the geometry of a robot link. This is useful to show/hide certain robot links or alter their geometry.

Returns an item pointer (:class:.Item) to a robot link. This is useful to show/hide certain robot links or alter their geometry.

Parameters

link_id link index(0 for the robot base, 1 for the first link, ...)

Returns: Internal geometry item

Parameters

link_id link index(0 for the robot base, 1 for the first link, ...)

Returns

Definition at line1134of filerobodk_api.cpp.

◆Parent()

ItemParent ( ) const

Return the parent item of this item

Returns: Parent item

Definition at line711of filerobodk_api.cpp.

◆Pause()

void Pause ( double time_ms=-1 )

Generates a pause instruction for a robot or a program when generating code. Set it to -1 (default) if you want the robot to stop and let the user resume the program anytime.

Parameters

time_ms Time in milliseconds

Definition at line1736of filerobodk_api.cpp.

◆Pose()

MatPose ( ) const

Returns the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will get the pose of the end efector

Returns: 4x4 homogeneous matrix (pose)

Definition at line815of filerobodk_api.cpp.

◆PoseAbs()

MatPoseAbs ( )

Returns the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.

Returns: 4x4 homogeneous matrix (pose)

Definition at line970of filerobodk_api.cpp.

◆PoseFrame()

MatPoseFrame ( )

Returns the reference frame pose of an item. If a robot is provided it will get the tool pose of the active reference frame used by the robot.

Returns: 4x4 homogeneous matrix (pose)

Definition at line892of filerobodk_api.cpp.

◆PoseTool()

MatPoseTool ( )

Returns the tool pose of an item. If a robot is provided it will get the tool pose of the active tool held by the robot.

Returns: 4x4 homogeneous matrix (pose)

Definition at line879of filerobodk_api.cpp.

◆RDK()

RoboDK* RDK ( )

Returns theRoboDKlink Robolink().

Returns

Definition at line586of filerobodk_api.cpp.

◆RunCode()

int RunCode ( const QString & parameters )

Runs a program. It returns the number of instructions that can be executed successfully (a quick program check is performed before the program starts) Program parameters can be provided for Python calls. This is a non-blocking call.Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used ->the program will run on the robot(default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in theRoboDKGUI

Parameters

parameters Number of instructions that can be executed

Definition at line1701of filerobodk_api.cpp.

◆RunInstruction()

int RunInstruction	(	const QString &	code,
		int	run_type=`RoboDK::INSTRUCTION_CALL_PROGRAM`
	)

Adds a program call, code, message or comment inside a program.

Parameters

code

Parameters

run_type INSTRUCTION_* variable to specify if the code is a progra

Definition at line1721of filerobodk_api.cpp.

◆RunProgram()

int RunProgram ( )

Runs a program. It returns the number of instructions that can be executed successfully (a quick program check is performed before the program starts) This is a non-blocking call. Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used -> the program will run on the robot (default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in theRoboDKGUI

Returns: True if successful

Returns: number of instructions that can be executed

Definition at line1682of filerobodk_api.cpp.

◆Save()

void Save ( const QString & filename )

Save a station, a robot, a tool or an object to a file

Save a station or object to a file

Parameters

filename path and file name

Parameters

filename

Definition at line617of filerobodk_api.cpp.

◆Scale()[1/2]

void Scale ( double 年代cale )

Apply a scale to an object to make it bigger or smaller. The scale can be uniform (if scale is a float value) or per axis (if scale is a vector).

------------------------------— add curve, scale, recolor, ...

Parameters

年代cale 年代cale to apply as scale or [scale_x, scale_y, scale_z]

Definition at line1003of filerobodk_api.cpp.

◆Scale()[2/2]

void Scale ( double 年代cale_xyz[3] )

Apply a per-axis scale to an object to make it bigger or smaller. The scale can be uniform (if scale is a float value) or per axis (if scale is a vector).

Parameters

年代cale 年代cale to apply as [scale_x, scale_y, scale_z]

Definition at line1016of filerobodk_api.cpp.

◆年代etAccuracyActive()

void setAccuracyActive ( int accurate=1 )

集机器人活动或非活动的准确性。A robot must have been calibrated to properly use this option.

Parameters

accurate 年代et to 1 to use the accurate model or 0 to use the nominal model

Definition at line1627of filerobodk_api.cpp.

◆年代etAO()

void setAO	(	const QString &	io_var,
		const QString &	io_value
	)

Set an analog Output

Parameters

io_var	Analog Output
io_value	Value as a string

Definition at line1763of filerobodk_api.cpp.

◆年代etAsCartesianTarget()

void setAsCartesianTarget ( )

Sets a target as a cartesian target. A cartesian target moves to cartesian coordinates.

Definition at line1055of filerobodk_api.cpp.

◆年代etAsJointTarget()

void setAsJointTarget ( )

Sets a target as a joint target. A joint target moves to a joints position without regarding the cartesian coordinates.

Definition at line1065of filerobodk_api.cpp.

◆年代etColor()

void setColor ( double 上校orRGBA[4] )

Changes the color of a robot/object/tool. A color must must in the format COLOR=[R,G,B,(A=1)] where all values range from 0 to 1. Alpha (A) defaults to 1 (100% opaque). Set A to 0 to make an object transparent.

Set the color of an object, tool or robot. A color must in the format COLOR=[R,G,B,(A=1)] where all values range from 0 to 1.

Parameters

tocolor	上校or to change to
fromcolor	filter by this color
tolerance	optional tolerance to use if a color filter is used (defaults to 0.1)

Definition at line983of filerobodk_api.cpp.

◆年代etDO()

void setDO	(	const QString &	io_var,
		const QString &	io_value
	)

Sets a variable (output) to a given value. This can also be used to set any variables to a desired value.

Parameters

io_var	io_var -> digital output (string or number)
io_value	io_value -> value (string or number)

Definition at line1750of filerobodk_api.cpp.

◆年代etGeometryPose()

void setGeometryPose ( constMat pose )

Sets the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.

Parameters

pose	4x4 homogeneous matrix
apply_movement	Apply the movement to the inner geometry and not as a pose shift

Parameters

pose	4x4 homogeneous matrix

Definition at line828of filerobodk_api.cpp.

◆年代etInstruction()

void setInstruction	(	int	ins_id,
		const QString &	name,
		int	instype,
		int	movetype,
		bool	isjointtarget,
		constMat&	target,
		consttJoints&	joints
	)

Sets the program instruction at position id

Parameters

ins_id
name
instype
movetype
isjointtarget
target
joints

Definition at line1946of filerobodk_api.cpp.

◆年代etJointLimits()

void setJointLimits	(	consttJoints&	lower_limits,
		consttJoints&	upper_limits
	)

Set the joint limits of a robot

Parameters

lower_limits
upper_limits

Definition at line1192of filerobodk_api.cpp.

◆年代etJoints()

void setJoints ( consttJoints& jnts )

Set robot joints or the joints of a target

Sets the current joints of a robot or the joints of a target. It the item is a cartesian target, it returns the preferred joints (configuration) to go to that cartesian position.

Parameters

joints

Definition at line1164of filerobodk_api.cpp.

◆年代etJointsHome()

void setJointsHome ( consttJoints& jnts )

Set robot joints for the home position

Sets the joint position of the "home" joints for a robot.

Parameters

joints

Definition at line1121of filerobodk_api.cpp.

◆年代etMachiningParameters()

Item年代etMachiningParameters	(	QString	ncfile=`""`,
		Item	part_obj=`nullptr`,
		QString	options=`""`
	)

Update the robot milling path input and parameters. Parameter input can be an NC file (G-code or APT file) or an object item inRoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project.
Tip: UsegetLink()and setLink() to get/set the robot tool, reference frame, robot and program linked to the project.
Tip: Use年代etPose()and年代etJoints()to update the path to tool orientation or the preferred start joints.
Tip: Use年代etPoseTool()and年代etPoseFrame()to link to the corresponding tool and reference frames.

Update the robot milling path input and parameters. Parameter input can be an NC file (G-code or APT file) or an object item inRoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project. Tip: UsegetLink()and setLink() to get/set the robot tool, reference frame, robot and program linked to the project. Tip: Use年代etPose()and年代etJoints()to update the path to tool orientation or the preferred start joints.

        Item object_curves =RDK->ItemUserPick("Select an object with curves or points to follow",RoboDK::ITEM_TYPE_OBJECT);

        if(!object_curves.Valid()){

        // operation cancelled
       
        return;

        }

        // Assuming ROBOT is a robot item
       
        Item project =RDK->AddMachiningProject("Curve1 Settings", ROBOT);

        // set the reference link:
       
        project.年代etPoseFrame(ROBOT->getLink(RoboDK::ITEM_TYPE_FRAME));

        // set the tool link:
       
        project.setPoseTool(ROBOT->getLink(RoboDK::ITEM_TYPE_TOOL));

        // set preferred start joints position (value automatically set by default)
       
        project.setJoints(ROBOT->JointsHome());

        // link the project to the part and provide additional settings
       
        QString additional_options ="RotZ_Range=45 RotZ_Step=5 NormalApproach=50 No_Update";

        project.setMachiningParameters("", object_curves, additional_options);

        // in this example:
       
        //RotZ_Range=45 RotZ_Step=5
       
        //allow a tool z rotation of +/- 45 deg by steps of 5 deg
       
        // NormalApproach=50
       
        //Use 50 mm as normal approach by default
       
        // No_Update
       
        // Do not attempt to solve the path. It can be later updated by running project.Update()

Parameters

ncfile	path to the NC (G-code/APT/Point cloud) file to load (optional)
part_obj	object holding curves or points to automatically set up a curve/point follow project (optional)
options	Additional options (optional)

Returns: Program (can be null it has not been updated). UseUpdate ()to retrieve the result

Parameters

ncfile	path to the NC (G-code/APT/Point cloud) file to load (optional)
part_obj	object holding curves or points to automatically set up a curve/point follow project (optional)
options	Additional options (optional)

Returns: Program linked to the project (invalid item if failed to update). UseUpdate ()to retrieve the result

Definition at line1036of filerobodk_api.cpp.

◆年代etName()

void setName ( const QString & name )

Set the name of aRoboDKitem.

Parameters

name

Definition at line787of filerobodk_api.cpp.

◆年代etParam()

QString setParam	(	const QString &	param,
		const QString &	value
	)

Set a specific item parameter. SelectTools-Run Script-Show Commandsto see all available commands for items and the station. Note: For parameters (commands) that require a JSON string value you can also provide a dict.

Parameters

param	item parameter
value	value

Returns

Definition at line2060of filerobodk_api.cpp.

◆年代etParent()

void setParent ( Item parent )

Attaches the item to a new parent while maintaining the relative position with its parent. The absolute position is changed.

Parameters

parent

Definition at line647of filerobodk_api.cpp.

◆年代etParentStatic()

void setParentStatic ( Item parent )

Attaches the item to another parent while maintaining the current absolute position in the station. The relationship between this item and its parent is changed to maintain the abosolute position.

Parameters

parent parent item to attach this item to

Parameters

parent parent item to attach this item

Definition at line660of filerobodk_api.cpp.

◆年代etPose()

void setPose ( constMat pose )

Sets the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will set the pose of the end efector.

Parameters

pose	4x4 homogeneous matrix

Definition at line802of filerobodk_api.cpp.

◆年代etPoseAbs()

void setPoseAbs ( constMat pose )

Sets the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.

Parameters

pose	4x4 homogeneous matrix (pose)

Definition at line957of filerobodk_api.cpp.

◆年代etPoseFrame()[1/2]

void setPoseFrame ( constItem frame_item )

设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Parameters

pose	4x4 homogeneous matrix (pose)

Definition at line919of filerobodk_api.cpp.

◆年代etPoseFrame()[2/2]

void setPoseFrame ( constMat frame_pose )

Sets the reference frame of a robot(user frame). The frame can be either an item or a pose. If "frame" is an item, it links the robot to the frame item. If frame is a pose, it updates the linked pose of the robot frame (with respect to the robot reference frame).

Parameters

frame_pose 4x4 homogeneous matrix (pose)

Definition at line906of filerobodk_api.cpp.

◆年代etPoseTool()[1/2]

void setPoseTool ( constItem tool_item )

设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Parameters

tool_item Tool item

Definition at line945of filerobodk_api.cpp.

◆年代etPoseTool()[2/2]

void setPoseTool ( constMat tool_pose )

设置一个机器人的工具或工具对象(Ce的工具nter Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Parameters

tool_pose 4x4 homogeneous matrix (pose)

Definition at line932of filerobodk_api.cpp.

◆年代etRobot()

void setRobot ( constItem& robot )

Sets the robot of a program or a target. You must set the robot linked to a program or a target every time you copy paste these objects. If the robot is not provided, the first available robot will be chosen automatically.

Parameters

robot Robot item

Definition at line1207of filerobodk_api.cpp.

◆年代etRounding()

void setRounding ( double zonedata )

Sets the robot movement smoothing accuracy (also known as zone data value).

Parameters

rounding_mm Rounding value (double) (robot dependent, set to -1 for accurate/fine movements)

Parameters

zonedata zonedata value (int) (robot dependent, set to -1 for fine movements)

Definition at line1558of filerobodk_api.cpp.

◆年代etRunType()

void setRunType ( int program_run_type )

Sets if the program will be run in simulation mode or on the real robot. Use: "PROGRAM_RUN_ON_SIMULATOR" to set the program to run on the simulator only or "PROGRAM_RUN_ON_ROBOT" to force the program to run on the robot.

Returns: number of instructions that can be executed

Definition at line1665of filerobodk_api.cpp.

◆年代etSpeed()

void setSpeed	(	double	年代peed_linear,
		double	accel_linear=`-1`,
		double	年代peed_joints=`-1`,
		double	accel_joints=`-1`
	)

Sets the speed and/or the acceleration of a robot.

Parameters

年代peed_linear	线性速度mm / s(1 =没有变化)
accel_linear	linear acceleration in mm/s2 (-1 = no change)
年代peed_joints	joint speed in deg/s (-1 = no change)
accel_joints	joint acceleration in deg/s2 (-1 = no change)

Definition at line1541of filerobodk_api.cpp.

◆年代etVisible()

void setVisible	(	bool	visible,
		int	visible_frame=`-1`
	)

Sets the item visiblity status

Parameters

visible
visible_reference	年代et the visible reference frame (1) or not visible (0)

Parameters

visible
visible_frame	年代rt the visible reference frame (1) or not visible (0)

Definition at line757of filerobodk_api.cpp.

◆ShowInstructions()

void ShowInstructions ( bool visible=true )

Show or hide instruction items of a program in theRoboDKtree

Parameters

年代how

Definition at line1871of filerobodk_api.cpp.

◆ShowSequence()

void ShowSequence ( tMatrix2D* 年代equence )

Displays a sequence of joints

Parameters

年代equence joint sequence as a 6xN matrix or instruction sequence as a 7xN matrix

Definition at line1570of filerobodk_api.cpp.

◆ShowTargets()

void ShowTargets ( bool visible=true )

Show or hide targets of a program in theRoboDKtree

Parameters

年代how

Definition at line1883of filerobodk_api.cpp.

◆SolveFK()

MatSolveFK	(	consttJoints&	joints,
		constMat*	tool=`nullptr`,
		constMat*	ref=`nullptr`
	)

Computes the forward kinematics of the robot for the provided joints. The tool and the reference frame are not taken into account.

Parameters

joints

Returns: 4x4 homogeneous matrix: pose of the robot flange with respect to the robot base

Definition at line1238of filerobodk_api.cpp.

◆SolveIK()[1/2]

tJointsSolveIK	(	constMat&	pose,
		constMat*	tool=`nullptr`,
		constMat*	ref=`nullptr`
	)

This function calculates the inverse kinematics for a pose. The joints returned are the closest to the current robot configuration (seeSolveIK_All()). If the pose is not reachable, the length of the returned joints is 0.

Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (seeSolveIK_All())

Parameters

pose	4 x4矩阵- >pose of the robot flange with respect to the robot base frame
joints_close	Aproximate joints solution to choose among the possible solutions. Leave this value empty to return the closest match to the current robot position.
tool_pose	Optionally provide a tool pose, otherwise, the robot flange is used. Tip: use robot.PoseTool() to retrieve the active robot tool.
reference_pose	Optionally provide a reference pose, otherwise, the robot base is used. Tip: use robot.PoseFrame() to retrieve the active robot reference frame.

Returns: array of joints

Parameters

pose	4 x4矩阵- >pose of the robot flange with respect to the robot base frame
tool	4 x4矩阵- >Optionally provide a tool, otherwise, the robot flange is used. Tip: use robot.PoseTool() to retrieve the active robot tool.
reference	4 x4矩阵- >选择提供一个参考,其他rwise, the robot base is used. Tip: use robot.PoseFrame() to retrieve the active robot reference frame.

Returns: array of joints

Definition at line1278of filerobodk_api.cpp.

◆SolveIK()[2/2]

tJointsSolveIK	(	constMat	pose,
		tJoints	joints_approx,
		constMat*	tool=`nullptr`,
		constMat*	ref=`nullptr`
	)

Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (seeSolveIK_All())

Parameters

pose	4 x4矩阵- >pose of the robot flange with respect to the robot base frame
joints_approx	Aproximate solution. Leave empty to return the closest match to the current robot position.
tool	4 x4矩阵- >Optionally provide a tool, otherwise, the robot flange is used. Tip: use robot.PoseTool() to retrieve the active robot tool.
reference	4 x4矩阵- >选择提供一个参考,其他rwise, the robot base is used. Tip: use robot.PoseFrame() to retrieve the active robot reference frame.

Returns: array of joints

Definition at line1306of filerobodk_api.cpp.

◆SolveIK_All()

QList<tJoints> SolveIK_All	(	constMat&	pose,
		constMat*	tool=`nullptr`,
		constMat*	ref=`nullptr`
	)

Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.

Parameters

pose	4 x4矩阵- >pose of the robot tool with respect to the robot frame
tool_pose	Optionally provide a tool pose, otherwise, the robot flange is used. Tip: use robot.PoseTool() to retrieve the active robot tool.
reference_pose	Optionally provide a reference pose, otherwise, the robot base is used. Tip: use robot.PoseFrame() to retrieve the active robot reference frame.

Returns: double x n x m -> joint list (2D matrix)

Definition at line1348of filerobodk_api.cpp.

◆SolveIK_All_Mat2D()

tMatrix2D* SolveIK_All_Mat2D	(	constMat&	pose,
		constMat*	tool=`nullptr`,
		constMat*	ref=`nullptr`
	)

Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.

Parameters

pose	4 x4矩阵- >pose of the robot tool with respect to the robot frame
tool_pose	Optionally provide a tool pose, otherwise, the robot flange is used. Tip: use robot.PoseTool() to retrieve the active robot tool.
reference_pose	Optionally provide a reference pose, otherwise, the robot base is used. Tip: use robot.PoseFrame() to retrieve the active robot reference frame.

Returns: double x n x m -> joint list (2D matrix)

Parameters

pose	4 x4矩阵- >pose of the robot tool with respect to the robot frame

Returns: double x n x m -> joint list (2D matrix)

Definition at line1331of filerobodk_api.cpp.

◆Stop()

void Stop ( )

Stops a program or a robot

Returns

Definition at line1596of filerobodk_api.cpp.

◆Type()

int Type ( ) const

Itemtype (object, robot, tool, reference, robot machining project, ...)

Returns the type of an item (robot, object, target, reference frame, ...)

GENERIC ITEM CALLS

Returns

Definition at line602of filerobodk_api.cpp.

◆Update ()

double Update	(	int	上校lision_check=`RoboDK::COLLISION_OFF`,
		int	timeout_sec=`3600`,
		double *	out_nins_time_dist=`nullptr`,
		double	mm_step=`-1`,
		double	deg_step=`-1`
	)

Updates a program and returns the estimated time and the number of valid instructions. An update can also be applied to a robot machining project. The update is performed on the generated program.

Parameters

上校lision_check	check_collisions: Check collisions (COLLISION_ON -yes- or COLLISION_OFF -no-)
timeout_sec	Maximum time to wait for the update to complete (in seconds)
out_nins_time_dist	optional double array [3] = [valid_instructions, program_time, program_distance]
mm_step	Maximum step in millimeters for linear movements (millimeters). Set to -1 to use the default, as specified in Tools-Options-Motion.
deg_step	Maximum step for joint movements (degrees). Set to -1 to use the default, as specified in Tools-Options-Motion.

Returns: 1.0 if there are no problems with the path or less than 1.0 if there is a problem in the path (ratio of problem)

Definition at line1991of filerobodk_api.cpp.

◆Valid()

bool Valid ( bool check_deleted=false ) const

Check if an item is valid (not null and available in the open station)

Checks if the item is valid. An invalid item will be returned by an unsuccessful function call.

Parameters

item_check Itemto check

Returns: True if the item exists, false otherwise

Returns: true if valid, false if invalid

Definition at line637of filerobodk_api.cpp.

◆Visible()

bool Visible ( ) const

Returns 1 if the item is visible, otherwise, returns 0.

Returns: true if visible, false if not visible

Definition at line744of filerobodk_api.cpp.

◆waitDI()

void waitDI	(	const QString &	io_var,
		const QString &	io_value,
		double	timeout_ms=`-1`
	)

Waits for an input io_id to attain a given value io_value. Optionally, a timeout can be provided.

Parameters

io_var	io_var -> digital output (string or number)
io_value	io_value -> value (string or number)
timeout_ms	int (optional) -> timeout in miliseconds

Definition at line1806of filerobodk_api.cpp.

◆WaitMove()

void WaitMove ( double timeout_sec=300 ) const

Waits (blocks) until the robot finishes its movement.

Parameters

timeout_sec timeout -> Max time to wait for robot to finish its movement (in seconds)

Definition at line1607of filerobodk_api.cpp.

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

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆AddTool()

◆AttachClosest()

◆Busy()

◆Childs()

◆Connect()

◆customInstruction()

◆删除()

◆DetachAll()

◆DetachClosest()

◆Disconnect()

◆Finish()

◆GeometryPose()

◆getAI()

◆getDI()

◆getLink()

◆Instruction()

◆InstructionCount()

◆InstructionList()

◆InstructionListJoints()

◆isJointTarget()

◆JointLimits()

◆Joints()

◆JointsConfig()

◆JointsHome()

◆MakeProgram()

◆MoveC()[1/3]

◆MoveC()[2/3]

◆MoveC()[3/3]

◆MoveJ()[1/3]

◆MoveJ()[2/3]

◆MoveJ()[3/3]

◆MoveJ_Test()

◆MoveL()[1/3]

◆MoveL()[2/3]

◆MoveL()[3/3]

◆MoveL_Test()

◆Name()

◆NewLink()

◆ObjectLink()

◆Parent()

◆Pause()

◆Pose()

◆PoseAbs()

◆PoseFrame()

◆PoseTool()

◆RDK()

◆RunCode()

◆RunInstruction()

◆RunProgram()

◆Save()

◆Scale()[1/2]

◆Scale()[2/2]

◆年代etAccuracyActive()

◆年代etAO()

◆年代etAsCartesianTarget()

◆年代etAsJointTarget()

◆年代etColor()

◆年代etDO()

◆年代etGeometryPose()

◆年代etInstruction()

◆年代etJointLimits()

◆年代etJoints()

◆年代etJointsHome()

◆年代etMachiningParameters()

◆年代etName()

◆年代etParam()

◆年代etParent()

◆年代etParentStatic()

◆年代etPose()

◆年代etPoseAbs()

◆年代etPoseFrame()[1/2]

◆年代etPoseFrame()[2/2]

◆年代etPoseTool()[1/2]

◆年代etPoseTool()[2/2]

◆年代etRobot()