RoboDK Plug-In Interface
irobodk.h
1 #ifndef IROBODK_H
2 #define IROBODK_H
3
4
5 #include "robodktypes.h"
6 #include
7
8
14 class IRoboDK{
15
16 public:
17
18 virtual ~IRoboDK(){}
19
20 public:
21
23 enum{
25 INS_TYPE_INVALID= -1,
26
28 INS_TYPE_MOVE= 0,
29
31 INS_TYPE_MOVEC= 1,
32
34 INS_TYPE_CHANGESPEED= 2,
35
37 INS_TYPE_CHANGEFRAME= 3,
38
40 INS_TYPE_CHANGETOOL= 4,
41
43 INS_TYPE_CHANGEROBOT= 5,
44
46 INS_TYPE_PAUSE= 6,
47
49 INS_TYPE_EVENT= 7,
50
52 INS_TYPE_CODE= 8,
53
55 INS_TYPE_PRINT= 9
56};
57
59 enum{
61 MOVE_TYPE_INVALID= -1,
62
64 MOVE_TYPE_JOINT= 1,
65
67 MOVE_TYPE_LINEAR= 2,
68
70 MOVE_TYPE_CIRCULAR= 3,
71
73 MOVE_TYPE_LINEARSEARCH= 4
74};
75
77 enum{
79 RUNMODE_SIMULATE= 1,
80
82 RUNMODE_QUICKVALIDATE= 2,
83
85 RUNMODE_MAKE_ROBOTPROG= 3,
86
88 RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD= 4,
89
91 RUNMODE_MAKE_ROBOTPROG_AND_START= 5,
92
94 RUNMODE_RUN_ROBOT= 6
95};
96
98 enum{
One hundred. PROGRAM_RUN_ON_SIMULATOR= 1,
101
103 PROGRAM_RUN_ON_ROBOT= 2
104};
105
107 enum{
108
110 CALIBRATE_TCP_BY_POINT= 0,
111
113 CALIBRATE_TCP_BY_PLANE= 1
114};
115
117 enum{
119 CALIBRATE_FRAME_3P_P1_ON_X= 0,
120
122 CALIBRATE_FRAME_3P_P1_ORIGIN= 1,
123
125 CALIBRATE_FRAME_6P= 2,
126
128 CALIBRATE_TURNTABLE= 3,
129
131 CALIBRATE_TURNTABLE_2X= 4
132};
133
135 enum{
137 PROJECTION_NONE= 0,
138
140 PROJECTION_CLOSEST= 1,
141
143 PROJECTION_ALONG_NORMAL= 2,
144
146 PROJECTION_ALONG_NORMAL_RECALC= 3,
147
149 PROJECTION_CLOSEST_RECALC= 4,
150
152 PROJECTION_RECALC= 5
153};
154
156 enum{
157
159 JOINT_FORMAT= -1,
160
162 EULER_RX_RYp_RZpp= 0,
163
165 EULER_RZ_RYp_RXpp= 1,
166
168 EULER_RZ_RYp_RZpp= 2,
169
171 EULER_RZ_RXp_RZpp= 3,
172
174 EULER_RX_RY_RZ= 4,
175
177 EULER_RZ_RY_RX= 5,
178
180 EULER_QUEATERNION= 6
181};
182
184 enum{
185
187 WINDOWSTATE_HIDDEN= -1,
188
190 WINDOWSTATE_SHOW= 0,
191
193 WINDOWSTATE_MINIMIZED= 1,
194
196 WINDOWSTATE_NORMAL= 2,
197
199 WINDOWSTATE_MAXIMIZED= 3,
200
202 WINDOWSTATE_FULLSCREEN= 4,
203
205 WINDOWSTATE_CINEMA= 5,
206
208 WINDOWSTATE_FULLSCREEN_CINEMA= 6,
209
211 WINDOWSTATE_VIDEO= 7
212};
213
215 enum{
217 INSTRUCTION_CALL_PROGRAM= 0,
218
220 INSTRUCTION_INSERT_CODE= 1,
221
223 INSTRUCTION_START_THREAD= 2,
224
226 INSTRUCTION_COMMENT= 3,
227
229 INSTRUCTION_SHOW_MESSAGE= 4
230};
231
233 enum{
235 FEATURE_NONE= 0,
236
238 FEATURE_SURFACE= 1,
239
241 FEATURE_CURVE= 2,
242
244 FEATURE_POINT= 3
245};
246
248 enum{
250 SPRAY_OFF= 0,
251SPRAY_ON = 1
252};
253
255 enum{
257 COLLISION_OFF= 0,
258
260 COLLISION_ON= 1
261};
262
264 enum{
266 FLAG_ROBODK_TREE_ACTIVE= 1,
267
269 FLAG_ROBODK_3DVIEW_ACTIVE= 2,
270
272 FLAG_ROBODK_LEFT_CLICK= 4,
273
275 FLAG_ROBODK_RIGHT_CLICK= 8,
276
278 FLAG_ROBODK_DOUBLE_CLICK= 16,
279
281 FLAG_ROBODK_MENU_ACTIVE= 32,
282
284 FLAG_ROBODK_MENUFILE_ACTIVE= 64,
285
287 FLAG_ROBODK_MENUEDIT_ACTIVE= 128,
288
290 FLAG_ROBODK_MENUPROGRAM_ACTIVE= 256,
291
293 FLAG_ROBODK_MENUTOOLS_ACTIVE= 512,
294
296 FLAG_ROBODK_MENUUTILITIES_ACTIVE= 1024,
297
299 FLAG_ROBODK_MENUCONNECT_ACTIVE= 2048,
300
302 FLAG_ROBODK_WINDOWKEYS_ACTIVE= 4096,
303
305 FLAG_ROBODK_TREE_VISIBLE= 8192,
306
308 FLAG_ROBODK_REFERENCES_VISIBLE= 16384,
309
311 FLAG_ROBODK_STATUSBAR_VISIBLE= 32768,
312
314 FLAG_ROBODK_NONE= 0,
315
317 FLAG_ROBODK_ALL= 0xFFFF,
318
320 FLAG_ROBODK_MENU_ACTIVE_ALL=FLAG_ROBODK_MENU_ACTIVE|FLAG_ROBODK_MENUFILE_ACTIVE|FLAG_ROBODK_MENUEDIT_ACTIVE|FLAG_ROBODK_MENUPROGRAM_ACTIVE|FLAG_ROBODK_MENUTOOLS_ACTIVE|FLAG_ROBODK_MENUUTILITIES_ACTIVE|FLAG_ROBODK_MENUCONNECT_ACTIVE
321};
322
324 enum{
326 FLAG_ITEM_SELECTABLE= 1,
327
329 FLAG_ITEM_EDITABLE= 2,
330
332 FLAG_ITEM_DRAGALLOWED= 4,
333
335 FLAG_ITEM_DROPALLOWED= 8,
336
338 FLAG_ITEM_ENABLED= 32,
339
341 FLAG_ITEM_AUTOTRISTATE= 64,
342
344 FLAG_ITEM_NOCHILDREN= 128,
345FLAG_ITEM_USERTRISTATE = 256,
346
348 FLAG_ITEM_NONE= 0,
349
351 FLAG_ITEM_ALL= 64 + 32 + 8 + 4 + 2 + 1
352};
353
355 enum{
357 RenderNone= 0,
358
360 RenderScreen= 1,
361
363 RenderUpdateOnly= 2,
364
366 RenderComplete= 0xff
367};
368
370 enum{
372 DrawTriangles= 1,
373
375 DrawLines= 2,
376
378 DrawPoints= 3,
379
381 DrawSpheres= 4
382};
383
384
385 public:
386
393 virtual Item getItem(constQString &name,intitemtype = -1)=0;
394
401 virtualQStringListgetItemListNames(intfilter = -1)=0;
402
409 virtualQListgetItemList(intfilter = -1)=0;
410
415 virtual bool Valid(const Itemitem_check)=0;
416
424 virtual Item ItemUserPick(constQString &message ="Pick one item",intitemtype = -1)=0;
425
434 virtual Item ItemUserPick(constQString &message,constQList &list_choices,intid_selected=-1)=0;
435
439 virtual void ShowRoboDK()=0;
440
444 virtual void HideRoboDK()=0;
445
449 virtual void CloseRoboDK()=0;
450
454 virtualQStringVersion()=0;
455
460 virtual void setWindowState(intwindowstate =WINDOWSTATE_NORMAL)=0;
461
466 virtual void setFlagsRoboDK(intflags =FLAG_ROBODK_ALL)=0;
467
473 virtual void setFlagsItem(intflags =FLAG_ITEM_ALL,Itemitem=nullptr)=0;
474
480 virtual int getFlagsItem(Itemitem)=0;
481
482
488 virtual void ShowMessage(constQString &message,boolpopup =true)=0;
489
496 virtual Item AddFile(constQString &filename,const Itemparent=nullptr)=0;
497
503 virtual void Save(constQString &filename,const Itemitemsave=nullptr)=0;
504
513 virtual Item AddShape(const tMatrix2D*trianglePoints,ItemaddTo =nullptr,boolshapeOverride =false,tColor*color =nullptr)=0;
514
515
524 virtual Item AddCurve(const tMatrix2D*curvePoints,ItemreferenceObject =nullptr,booladdToRef =false,intProjectionType =PROJECTION_ALONG_NORMAL_RECALC)=0;
525
526
535 virtual Item AddPoints(const tMatrix2D*points,ItemreferenceObject =nullptr,booladdToRef =false,intProjectionType =PROJECTION_ALONG_NORMAL_RECALC)=0;
536
544 virtual bool ProjectPoints(tMatrix2D*points,ItemobjectProject,intProjectionType =PROJECTION_ALONG_NORMAL_RECALC)=0;
545
549 virtual void CloseStation()=0;
550
558 virtual Item AddTarget(constQString &name,Itemitemparent =nullptr,Itemitemrobot =nullptr)=0;
559
566 virtual Item AddFrame(constQString &name,Itemitemparent =nullptr)=0;
567
574 virtual Item AddProgram(constQString &name,Itemitemrobot =nullptr)=0;
575
580 virtual Item AddStation(QString name)=0;
581
590 virtual Item AddMachiningProject(QString name ="Curve follow settings",Itemitemrobot =nullptr)=0;
591
596 virtualQListgetOpenStations()=0;
597
602 virtual void setActiveStation(Itemstn)=0;
603
608 virtual Item getActiveStation()=0;
609
615 virtual int RunProgram(constQString &function_w_params)=0;
616
623 virtual int RunCode(constQString &code,boolcode_is_fcn_call =false)=0;
624
630 virtual void RunMessage(constQString &message,boolmessage_is_comment =false)=0;
631
636 virtual void Render(intflags=RenderComplete)=0;
637
644 virtual bool IsInside(Itemobject_inside,Itemobject_parent)=0;
645
651 virtual int setCollisionActive(intcheck_state =COLLISION_ON)=0;
652
663 virtual bool setCollisionActivePair(intcheck_state,Itemitem1,Itemitem2,intid1 = 0,intid2 = 0)=0;
664
669 virtual int Collisions()=0;
670
677 virtual int Collision(Itemitem1,Itemitem2)=0;
678
684 virtualQListgetCollisionItems(QList *link_id_list=nullptr)=0;
685
690 virtual void setSimulationSpeed(doublespeed)=0;
691
696 virtual double SimulationSpeed()=0;
697
708 virtual void setRunMode(intrun_mode = 1)=0;
709
718 virtual int RunMode()=0;
719
726 virtualQList >getParams()=0;
727
739 virtualQStringgetParam(constQString ¶m)=0;
740
741
749 virtual void setParam(constQString ¶m,constQString &value)=0;
750
757 virtualQStringCommand(constQString &cmd,constQString &value="")=0;
758
759
760 // --- add calibrate reference, calibrate tool, measure tracker, etc...
761
762
770 virtual bool LaserTrackerMeasure(tXYZ xyz,consttXYZ estimate,boolsearch =false)=0;
771
781 virtual bool MeasurePose(Mat*pose,doubledata[10],inttarget=-1,inttime_avg_ms=0,consttXYZ tool_tip=nullptr)=0;
782
791 virtual bool CollisionLine(consttXYZ p1,consttXYZ p2)=0;
792
802 virtual void CalibrateTool(const tMatrix2D*poses_joints, tXYZ tcp_xyz,intformat=EULER_RX_RY_RZ,intalgorithm=CALIBRATE_TCP_BY_POINT,Item机器人=nullptr,double*error_stats=nullptr)=0;
803
812 virtual Mat CalibrateReference(const tMatrix2D*poses_joints,intmethod =CALIBRATE_FRAME_3P_P1_ON_X,booluse_joints =false,Itemrobot =nullptr)=0;
813
823 virtual bool ProgramStart(constQString &progname,constQString &defaultfolder ="",constQString &postprocessor ="",Itemrobot =nullptr)=0;
824
825
830 virtual void setViewPose(const Mat&pose)=0;
831
836 virtual Mat ViewPose()=0;
837
846 virtual bool SetRobotParams(Itemrobot,tMatrix2Ddhm,MatposeBase,MatposeTool)=0;
847
857 virtual Item getCursorXYZ(intx = -1,inty = -1, tXYZ xyzStation =nullptr)=0;
858
863 virtualQStringLicense()=0;
864
869 virtualQListSelection()=0;
870
878 virtual Item Popup_ISO9283_CubeProgram(Item机器人=nullptr, tXYZ center=nullptr,doubleside=-1)=0;
879
880
887 virtualQByteArraygetData(constQString ¶m)=0;
888
889
897 virtual void setData(constQString ¶m,constQByteArray &value)=0;
898
899
902 virtual int CollisionActive()=0;
903
914 virtual bool DrawGeometry(intdrawtype,float*vtx_pointer,intvtx_size,floatcolor[4],floatgeo_size=2.0,float*vtx_normals=nullptr)=0;
915
925 virtual bool DrawTexture(constQImage *image,const float*vtx_pointer,const float*texture_coords,intnum_triangles,float*vtx_normals=nullptr)=0;
926
927
928 //-----------------------------------------------------
929 // added after 2020-08-21 with version RoboDK 5.1.0
930
934 virtual void setSelection(constQList &listitems)=0;
935
943 virtual void setInteractiveMode(intmode_type,intdefault_ref_flags,constQList *custom_object=nullptr,intcustom_ref_flags=0)=0;
944
950 virtual void PluginLoad(constQString &plugin_name="",intload=1)=0;
951
958 virtualQStringPluginCommand(constQString &plugin_name="",constQString &plugin_command="",constQString &value="")=0;
959
966 virtualQByteArraygetParamBytes(constQString ¶m)=0;
967
968
975 virtual void setParamBytes(constQString ¶m,constQByteArray &value)=0;
976
989 virtual int StereoCamera_Measure(Matpose1,Matpose2,int&npoints1,int&npoints2,double*data=nullptr,floattime_avg=0,consttXYZ tip_xyz=nullptr)=0;
990
One hundred.7 virtual Item BuildMechanism(inttype,constQList &list_obj,const double*parameters,const tJoints&joints_build,const tJoints&joints_home,const tJoints&joints_senses,const tJoints&joints_lim_low,const tJoints&joints_lim_high,const Matbase,const Mattool,constQString &name,Item机器人=nullptr)=0;
One hundred.8
One hundred.9
1010 //-----------------------------------------------------
1011 // added after 2021-09-17 with version RoboDK 5.3.0
1012
1013
1018 virtual Item Cam2D_Add(const Itemattach_to,constQString ¶ms="")=0;
1019
1024 virtualQImageCam2D_Snapshot(constQString &file,const Itemcamera=nullptr,constQString ¶ms="")=0;
1025
1026
1027
1031 virtual Item MergeItems(constQList &listitems)=0;
1032
1033 /*
1034
1035 SprayAdd
1036 */
1037
1038};
1039
1040
1041 //Q_DECLARE_INTERFACE(IRoboDK, "RoboDK.IRoboDK")
1042
1043 #endif // IROBODK_H
IItem
The Item class represents an item in RoboDK station. An item can be a robot, a frame,...
Definition: iitem.h:14
IRoboDK
This class is the iterface to the RoboDK API. With the RoboDK API you can automate certain tasks and ...
Definition: irobodk.h:14
IRoboDK::setParam
virtual void setParam(const QString ¶m, const QString &value)=0
Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified....
IRoboDK::PROJECTION_NONE
@ PROJECTION_NONE
No curve projection.
Definition: irobodk.h:137
IRoboDK::PROJECTION_RECALC
@ PROJECTION_RECALC
The normals are recalculated according to the surface normal of the closest projection....
Definition: irobodk.h:152
IRoboDK::PROJECTION_ALONG_NORMAL
@ PROJECTION_ALONG_NORMAL
The projection will be done along the normal.
Definition: irobodk.h:143
IRoboDK::PROJECTION_ALONG_NORMAL_RECALC
@ PROJECTION_ALONG_NORMAL_RECALC
The projection will be done along the normal. Furthermore, the normal will be recalculated according ...
Definition: irobodk.h:146
IRoboDK::PROJECTION_CLOSEST
@ PROJECTION_CLOSEST
The projection will the closest point on the surface.
Definition: irobodk.h:140
IRoboDK::PROJECTION_CLOSEST_RECALC
@ PROJECTION_CLOSEST_RECALC
The projection will be the closest point on the surface and the normals will be recalculated.
Definition: irobodk.h:149
IRoboDK::setViewPose
virtual void setViewPose(const Mat &pose)=0
Set the pose of the wold reference frame with respect to the user view (camera/screen).
IRoboDK::COLLISION_ON
@ COLLISION_ON
Use collision checking.
Definition: irobodk.h:260
IRoboDK::COLLISION_OFF
@ COLLISION_OFF
Do not use collision checking.
Definition: irobodk.h:257
IRoboDK::AddCurve
virtual Item AddCurve(const tMatrix2D *curvePoints, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
Adds a curve provided point coordinates. The provided points must be a list of vertices....
IRoboDK::setFlagsItem
virtual void setFlagsItem(int flags=FLAG_ITEM_ALL, Item item=nullptr)=0
Update item flags. Item flags allow defining how much access the user has to item-specific features....
IRoboDK::getFlagsItem
virtual int getFlagsItem(Item item)=0
Retrieve current item flags. Item flags allow defining how much access the user has to item-specific ...
IRoboDK::AddPoints
virtual Item AddPoints(const tMatrix2D *points, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
Adds a list of points to an object. The provided points must be a list of vertices....
IRoboDK::Command
virtual QString Command(const QString &cmd, const QString &value="")=0
Send a special command. These commands are meant to have a specific effect in RoboDK,...
IRoboDK::FLAG_ROBODK_RIGHT_CLICK
@ FLAG_ROBODK_RIGHT_CLICK
允许右点击3 d导航可控硅een.
Definition: irobodk.h:275
IRoboDK::FLAG_ROBODK_WINDOWKEYS_ACTIVE
@ FLAG_ROBODK_WINDOWKEYS_ACTIVE
Allow using keyboard shortcuts.
Definition: irobodk.h:302
IRoboDK::FLAG_ROBODK_DOUBLE_CLICK
@ FLAG_ROBODK_DOUBLE_CLICK
Allow double clicks on the 3D navigation screen.
Definition: irobodk.h:278
IRoboDK::FLAG_ROBODK_NONE
@ FLAG_ROBODK_NONE
Disallow everything.
Definition: irobodk.h:314
IRoboDK::FLAG_ROBODK_MENU_ACTIVE_ALL
@ FLAG_ROBODK_MENU_ACTIVE_ALL
Allow using the full menu.
Definition: irobodk.h:320
IRoboDK::FLAG_ROBODK_TREE_VISIBLE
@ FLAG_ROBODK_TREE_VISIBLE
Make the tree visible.
Definition: irobodk.h:305
IRoboDK::FLAG_ROBODK_MENUPROGRAM_ACTIVE
@ FLAG_ROBODK_MENUPROGRAM_ACTIVE
Enable the program menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:290
IRoboDK::FLAG_ROBODK_3DVIEW_ACTIVE
@ FLAG_ROBODK_3DVIEW_ACTIVE
Allow using the 3D navigation.
Definition: irobodk.h:269
IRoboDK::FLAG_ROBODK_MENU_ACTIVE
@ FLAG_ROBODK_MENU_ACTIVE
Enable/display the menu bar.
Definition: irobodk.h:281
IRoboDK::FLAG_ROBODK_MENUUTILITIES_ACTIVE
@ FLAG_ROBODK_MENUUTILITIES_ACTIVE
Enable the utilities menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:296
IRoboDK::FLAG_ROBODK_MENUEDIT_ACTIVE
@ FLAG_ROBODK_MENUEDIT_ACTIVE
Enable the edit menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:287
IRoboDK::FLAG_ROBODK_LEFT_CLICK
@ FLAG_ROBODK_LEFT_CLICK
Allow left clicks on the 3D navigation screen.
Definition: irobodk.h:272
IRoboDK::FLAG_ROBODK_TREE_ACTIVE
@ FLAG_ROBODK_TREE_ACTIVE
Allow using the RoboDK station tree.
Definition: irobodk.h:266
IRoboDK::FLAG_ROBODK_REFERENCES_VISIBLE
@ FLAG_ROBODK_REFERENCES_VISIBLE
Make the reference frames visible.
Definition: irobodk.h:308
IRoboDK::FLAG_ROBODK_STATUSBAR_VISIBLE
@ FLAG_ROBODK_STATUSBAR_VISIBLE
Make the statusbar visible.
Definition: irobodk.h:311
IRoboDK::FLAG_ROBODK_MENUFILE_ACTIVE
@ FLAG_ROBODK_MENUFILE_ACTIVE
Enable the file menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:284
IRoboDK::FLAG_ROBODK_MENUTOOLS_ACTIVE
@ FLAG_ROBODK_MENUTOOLS_ACTIVE
Enable the tools menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:293
IRoboDK::FLAG_ROBODK_MENUCONNECT_ACTIVE
@ FLAG_ROBODK_MENUCONNECT_ACTIVE
Enable the connect menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
Definition: irobodk.h:299
IRoboDK::FLAG_ROBODK_ALL
@ FLAG_ROBODK_ALL
Allow everything (default).
Definition: irobodk.h:317
IRoboDK::setWindowState
virtual void setWindowState(int windowstate=WINDOWSTATE_NORMAL)=0
Set the state of the RoboDK window
IRoboDK::License
virtual QString License()=0
Returns the license as a readable string (same name shown in the RoboDK's title bar,...
IRoboDK::DrawTexture
virtual bool DrawTexture(const QImage *image, const float *vtx_pointer, const float *texture_coords, int num_triangles, float *vtx_normals=nullptr)=0
Draw a texture in the RoboDK's 3D view. This function must be called only inside a PluginEvent of typ...
IRoboDK::DrawGeometry
virtual bool DrawGeometry(int drawtype, float *vtx_pointer, int vtx_size, float color[4], float geo_size=2.0, float *vtx_normals=nullptr)=0
Draw geometry in the RoboDK's 3D view. This function must be called only inside a PluginEvent of type...
IRoboDK::getCursorXYZ
virtual Item getCursorXYZ(int x=-1, int y=-1, tXYZ xyzStation=nullptr)=0
Returns the position of the cursor as XYZ coordinates (by default), or the 3D position of a given set...
IRoboDK::AddProgram
virtual Item AddProgram(const QString &name, Item itemrobot=nullptr)=0
Adds a new Frame that can be referenced by a robot.
IRoboDK::getCollisionItems
virtual QList< Item > getCollisionItems(QList< int > *link_id_list=nullptr)=0
Return the list of items that are in a collision state. This function can be used after calling Colli...
IRoboDK::setFlagsRoboDK
virtual void setFlagsRoboDK(int flags=FLAG_ROBODK_ALL)=0
Update the RoboDK flags. RoboDK flags allow defining how much access the user has to certain RoboDK f...
IRoboDK::AddFrame
virtual Item AddFrame(const QString &name, Item itemparent=nullptr)=0
Adds a new Frame that can be referenced by a robot.
IRoboDK::RunProgram
virtual int RunProgram(const QString &function_w_params)=0
Adds a function call in the program output. RoboDK will handle the syntax when the code is generated ...
IRoboDK::ViewPose
virtual Mat ViewPose()=0
Get the pose of the wold reference frame with respect to the user view (camera/screen).
IRoboDK::INSTRUCTION_COMMENT
@ INSTRUCTION_COMMENT
Comment output.
Definition: irobodk.h:226
IRoboDK::INSTRUCTION_START_THREAD
@ INSTRUCTION_START_THREAD
Instruction to start a parallel thread. Program execution will continue and also trigger a thread.
Definition: irobodk.h:223
IRoboDK::INSTRUCTION_CALL_PROGRAM
@ INSTRUCTION_CALL_PROGRAM
Instruction to call a program.
Definition: irobodk.h:217
IRoboDK::INSTRUCTION_INSERT_CODE
@ INSTRUCTION_INSERT_CODE
Instructio to insert raw code (this will not provoke a program call).
Definition: irobodk.h:220
IRoboDK::INSTRUCTION_SHOW_MESSAGE
@ INSTRUCTION_SHOW_MESSAGE
Instruction to pop up a message on the robot teach pendant.
Definition: irobodk.h:229
IRoboDK::AddMachiningProject
virtual Item AddMachiningProject(QString name="Curve follow settings", Item itemrobot=nullptr)=0
Add a new robot machining project. Machining projects can also be used for 3D printing,...
IRoboDK::Cam2D_Add
virtual Item Cam2D_Add(const Item attach_to, const QString ¶ms="")=0
Open a simulated 2D camera view. Returns a handle pointer that can be used in case more than one simu...
IRoboDK::ItemUserPick
virtual Item ItemUserPick(const QString &message="Pick one item", int itemtype=-1)=0
Shows a RoboDK popup to select one object from the open RoboDK station. An item type can be specified...
IRoboDK::setCollisionActivePair
virtual bool setCollisionActivePair(int check_state, Item item1, Item item2, int id1=0, int id2=0)=0
Set collision checking ON or OFF (COLLISION_ON/COLLISION_OFF) for a specific pair of objects....
IRoboDK: CalibrateTool
virtual void CalibrateTool(const tMatrix2D *poses_joints, tXYZ tcp_xyz, int format=EULER_RX_RY_RZ, int algorithm=CALIBRATE_TCP_BY_POINT, Item robot=nullptr, double *error_stats=nullptr)=0
Calibrate a tool (TCP) given a number of points or calibration joints. Important: If the robot is cal...
IRoboDK::ShowMessage
virtual void ShowMessage(const QString &message, bool popup=true)=0
Show a message in RoboDK (it can be blocking or non blocking in the status bar)
IRoboDK::MergeItems
virtual Item MergeItems(const QList< Item > &listitems)=0
Merge multiple object items as one. Source objects are not deleted and a new object is created.
IRoboDK::getOpenStations
virtual QList< Item > getOpenStations()=0
Returns the list of open stations in RoboDK.
IRoboDK::Popup_ISO9283_CubeProgram
virtual Item Popup_ISO9283_CubeProgram(Item robot=nullptr, tXYZ center=nullptr, double side=-1)=0
Show the popup menu to create the ISO9283 path for position accuracy, repeatability and path accuracy...
IRoboDK::CollisionLine
virtual bool CollisionLine(const tXYZ p1, const tXYZ p2)=0
Checks the collision between a line and any objects in the station. The line is composed by 2 points....
IRoboDK::CALIBRATE_TCP_BY_POINT
@ CALIBRATE_TCP_BY_POINT
校准的TCP触摸same point.
Definition: irobodk.h:110
IRoboDK::CALIBRATE_TCP_BY_PLANE
@ CALIBRATE_TCP_BY_PLANE
校准的TCP触摸same plane.
Definition: irobodk.h:113
IRoboDK::getActiveStation
virtual Item getActiveStation()=0
Returns the active station item (station currently visible).
IRoboDK::Cam2D_Snapshot
virtual QImage Cam2D_Snapshot(const QString &file, const Item camera=nullptr, const QString ¶ms="")=0
Take a snapshot from a simulated camera view and save it to a file. Returns 1 if success,...
IRoboDK::AddFile
virtual Item AddFile(const QString &filename, const Item parent=nullptr)=0
Loads a file and attaches it to parent. It can be any file supported by RoboDK.
IRoboDK::setSelection
virtual void setSelection(const QList< Item > &listitems)=0
Set the selection in the tree
IRoboDK::CollisionActive
virtual int CollisionActive()=0
Returns the status of collision checking (COLLISION_ON=1 if the user want to have collision checking ...
IRoboDK::ProjectPoints
virtual bool ProjectPoints(tMatrix2D *points, Item objectProject, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
Projects a list of points given its coordinates. The provided points must be a list of [XYZ] coordina...
IRoboDK::CalibrateReference
virtual Mat CalibrateReference(const tMatrix2D *poses_joints, int method=CALIBRATE_FRAME_3P_P1_ON_X, bool use_joints=false, Item robot=nullptr)=0
Calibrate a Reference Frame given a list of points or joint values. Important: If the robot is calibr...
IRoboDK::CALIBRATE_TURNTABLE
@ CALIBRATE_TURNTABLE
Calibrate turntable.
Definition: irobodk.h:128
IRoboDK::CALIBRATE_FRAME_6P
@ CALIBRATE_FRAME_6P
Calibrate by 6 points.
Definition: irobodk.h: 125
IRoboDK::CALIBRATE_FRAME_3P_P1_ORIGIN
@ CALIBRATE_FRAME_3P_P1_ORIGIN
Calibrate by 3 points: [Origin, X+, XY+] (p1 is origin).
Definition: irobodk.h:122
IRoboDK::CALIBRATE_FRAME_3P_P1_ON_X
@ CALIBRATE_FRAME_3P_P1_ON_X
Calibrate by 3 points: [X, X+, Y+] (p1 on X axis).
Definition: irobodk.h:119
IRoboDK::CALIBRATE_TURNTABLE_2X
@ CALIBRATE_TURNTABLE_2X
Calibrate a 2 axis turntable.
Definition: irobodk.h:131
IRoboDK::Selection
virtual QList< Item > Selection()=0
Returns the list of items selected (it can be one or more items).
IRoboDK::ShowRoboDK
virtual void ShowRoboDK()=0
Shows or raises the RoboDK window.
IRoboDK::DrawTriangles
@ DrawTriangles
Draw surfaces.
Definition: irobodk.h:372
IRoboDK::DrawLines
@ DrawLines
Draw lines.
Definition: irobodk.h:375
IRoboDK::DrawSpheres
@ DrawSpheres
Draw spheres.
Definition: irobodk.h:381
IRoboDK::DrawPoints
@ DrawPoints
画点。
Definition: irobodk.h:378
IRoboDK::getItemListNames
virtual QStringList getItemListNames(int filter=-1)=0
Returns a list of items (list of names or Items) of all available items in the currently open station...
IRoboDK::getParamBytes
virtual QByteArray getParamBytes(const QString ¶m)=0
Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be...
IRoboDK::SetRobotParams
virtual bool SetRobotParams(Item robot, tMatrix2D dhm, Mat poseBase, Mat poseTool)=0
Set the nominal robot parameters.
IRoboDK::AddShape
virtual Item AddShape(const tMatrix2D *trianglePoints, Item addTo=nullptr, bool shapeOverride=false, tColor *color=nullptr)=0
Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices....
IRoboDK::setRunMode
virtual void setRunMode(int run_mode=1)=0
Sets the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instru...
IRoboDK::StereoCamera_Measure
virtual int StereoCamera_Measure(Mat pose1, Mat pose2, int &npoints1, int &npoints2, double *data=nullptr, float time_avg=0, const tXYZ tip_xyz=nullptr)=0
Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and ...
IRoboDK::MOVE_TYPE_INVALID
@ MOVE_TYPE_INVALID
Invalid robot movement.
Definition: irobodk.h:61
IRoboDK::MOVE_TYPE_LINEAR
@ MOVE_TYPE_LINEAR
Linear movement (MoveL).
Definition: irobodk.h:67
IRoboDK::MOVE_TYPE_LINEARSEARCH
@ MOVE_TYPE_LINEARSEARCH
Linear search function.
Definition: irobodk.h:73
IRoboDK::MOVE_TYPE_JOINT
@ MOVE_TYPE_JOINT
Joint axes movement (MoveJ).
Definition: irobodk.h:64
IRoboDK::MOVE_TYPE_CIRCULAR
@ MOVE_TYPE_CIRCULAR
Circular movement (MoveC).
Definition: irobodk.h:70
IRoboDK::setActiveStation
virtual void setActiveStation(Item stn)=0
Set the active station (project currently visible).
IRoboDK::IsInside
virtual bool IsInside(Item object_inside, Item object_parent)=0
Check if an object is fully inside another one.
IRoboDK::getParams
virtual QList< QPair< QString, QString > > getParams()=0
Gets all the user parameters from the open RoboDK station. The parameters can also be modified by rig...
IRoboDK::PluginCommand
virtual QString PluginCommand(const QString &plugin_name="", const QString &plugin_command="", const QString &value="")=0
发送一个特定命令RoboDK插件。的有限公司mmand and value (optional) must be handled by your ...
IRoboDK::getItemList
virtual QList< Item > getItemList(int filter=-1)=0
Returns a list of items (list of names or pointers) of all available items in the currently open stat...
IRoboDK::MeasurePose
virtual bool MeasurePose(Mat *pose, double data[10], int target=-1, int time_avg_ms=0, const tXYZ tool_tip=nullptr)=0
需要一个姿势测量(requires a supported measurement system).
IRoboDK::AddTarget
virtual Item AddTarget(const QString &name, Item itemparent=nullptr, Item itemrobot=nullptr)=0
Adds a new target that can be reached with a robot.
IRoboDK::getParam
virtual QString getParam(const QString ¶m)=0
Gets a global or a user parameter from the open RoboDK station. The parameters can also be modified b...
IRoboDK::ProgramStart
virtual bool ProgramStart(const QString &progname, const QString &defaultfolder="", const QString &postprocessor="", Item robot=nullptr)=0
Defines the name of the program when the program is generated. It is also possible to specify the nam...
IRoboDK::RenderComplete
@ RenderComplete
Provokes an update and then screen display (full update and render).
Definition: irobodk.h: 366
IRoboDK: RenderNone
@ RenderNone
Do not render the screen.
Definition: irobodk.h:357
IRoboDK::RenderUpdateOnly
@ RenderUpdateOnly
Update all positions of modified items (robots, references and objects) and their child items.
Definition: irobodk.h:363
IRoboDK::RenderScreen
@ RenderScreen
Redisplay the screen.
Definition: irobodk.h:360
IRoboDK::WINDOWSTATE_CINEMA
@ WINDOWSTATE_CINEMA
Display RoboDK in cinema mode (hide the toolbar and the menu).
Definition: irobodk.h:205
IRoboDK::WINDOWSTATE_MAXIMIZED
@ WINDOWSTATE_MAXIMIZED
Maximize the RoboDK Window.
Definition: irobodk.h:199
IRoboDK::WINDOWSTATE_NORMAL
@ WINDOWSTATE_NORMAL
Display the RoboDK window in a normal state (not maximized)
Definition: irobodk.h:196
IRoboDK::WINDOWSTATE_FULLSCREEN
@ WINDOWSTATE_FULLSCREEN
Make the RoboDK window fullscreen.
Definition: irobodk.h:202
IRoboDK::WINDOWSTATE_MINIMIZED
@ WINDOWSTATE_MINIMIZED
Minimize the RoboDK window.
Definition: irobodk.h:193
IRoboDK::WINDOWSTATE_FULLSCREEN_CINEMA
@ WINDOWSTATE_FULLSCREEN_CINEMA
Display RoboDK in cinema mode and fullscreen.
Definition: irobodk.h:208
IRoboDK::WINDOWSTATE_HIDDEN
@ WINDOWSTATE_HIDDEN
Hide the RoboDK window. RoboDK will keep running as a process.
Definition: irobodk.h:187
IRoboDK::WINDOWSTATE_SHOW
@ WINDOWSTATE_SHOW
Display the RoboDK window.
Definition: irobodk.h:190
IRoboDK::WINDOWSTATE_VIDEO
@ WINDOWSTATE_VIDEO
Display RoboDK in video mode.
Definition: irobodk.h:211
IRoboDK::BuildMechanism
virtual Item BuildMechanism(int type, const QList< Item > &list_obj, const double *parameters, const tJoints &joints_build, const tJoints &joints_home, const tJoints &joints_senses, const tJoints &joints_lim_low, const tJoints &joints_lim_high, const Mat base, const Mat tool, const QString &name, Item robot=nullptr)=0
Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and ...
IRoboDK::FLAG_ITEM_NONE
@ FLAG_ITEM_NONE
Disallow everything.
Definition: irobodk.h:348
IRoboDK::FLAG_ITEM_NOCHILDREN
@ FLAG_ITEM_NOCHILDREN
Do not allow adding nested items.
Definition: irobodk.h:344
IRoboDK::FLAG_ITEM_SELECTABLE
@ FLAG_ITEM_SELECTABLE
Allow selecting RoboDK items.
Definition: irobodk.h:326
IRoboDK::FLAG_ITEM_DROPALLOWED
@ FLAG_ITEM_DROPALLOWED
Allow dropping to an item.
Definition: irobodk.h:335
IRoboDK::FLAG_ITEM_AUTOTRISTATE
@ FLAG_ITEM_AUTOTRISTATE
Allow having nested items, expand and collapse the item.
Definition: irobodk.h:341
IRoboDK::FLAG_ITEM_ALL
@ FLAG_ITEM_ALL
Allow everything (default).
Definition: irobodk.h:351
IRoboDK::FLAG_ITEM_DRAGALLOWED
@ FLAG_ITEM_DRAGALLOWED
Allow draggin an item.
Definition: irobodk.h:332
IRoboDK::FLAG_ITEM_EDITABLE
@ FLAG_ITEM_EDITABLE
Allow modifying RoboDK items.
Definition: irobodk.h:329
IRoboDK::FLAG_ITEM_ENABLED
@ FLAG_ITEM_ENABLED
Enable the item.
Definition: irobodk.h:338
IRoboDK: FEATURE_SURFACE
@ FEATURE_SURFACE
Surface selection.
Definition: irobodk.h:238
IRoboDK: FEATURE_NONE
@ FEATURE_NONE
No selection.
Definition: irobodk.h:235
IRoboDK: FEATURE_CURVE
@ FEATURE_CURVE
Curve selection.
Definition: irobodk.h:241
IRoboDK: FEATURE_POINT
@ FEATURE_POINT
Point selection.
Definition: irobodk.h:244
IRoboDK::RUNMODE_MAKE_ROBOTPROG_AND_START
@ RUNMODE_MAKE_ROBOTPROG_AND_START
Makes the robot program and starts it on the robot (independently from the PC).
Definition: irobodk.h:91
IRoboDK::RUNMODE_QUICKVALIDATE
@ RUNMODE_QUICKVALIDATE
Performs a quick check to validate the robot movements.
Definition: irobodk.h:82
IRoboDK::RUNMODE_RUN_ROBOT
@ RUNMODE_RUN_ROBOT
Moves the real robot from the PC (PC is the client, the robot behaves like a server).
Definition: irobodk.h:94
IRoboDK::RUNMODE_MAKE_ROBOTPROG
@ RUNMODE_MAKE_ROBOTPROG
Makes the robot program.
Definition: irobodk.h:85
IRoboDK::RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD
@ RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD
Makes the robot program and updates it to the robot.
Definition: irobodk.h:88
IRoboDK::RUNMODE_SIMULATE
@ RUNMODE_SIMULATE
Performs the simulation moving the robot (default)
Definition: irobodk.h:79
IRoboDK::setSimulationSpeed
virtual void setSimulationSpeed(double speed)=0
Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed a...
IRoboDK::EULER_RZ_RYp_RZpp
@ EULER_RZ_RYp_RZpp
Kawasaki, Adept, Staubli.
Definition: irobodk.h:168
IRoboDK::EULER_RZ_RY_RX
@ EULER_RZ_RY_RX
CRS.
Definition: irobodk.h:177
IRoboDK::JOINT_FORMAT
@ JOINT_FORMAT
joints.
Definition: irobodk.h:159
IRoboDK::EULER_RZ_RYp_RXpp
@ EULER_RZ_RYp_RXpp
ABB RobotStudio.
Definition: irobodk.h:165
IRoboDK::EULER_RX_RYp_RZpp
@ EULER_RX_RYp_RZpp
Staubli, Mecademic.
Definition: irobodk.h:162
IRoboDK::EULER_RX_RY_RZ
@ EULER_RX_RY_RZ
Fanuc, Kuka, Motoman, Nachi.
Definition: irobodk.h:174
IRoboDK::EULER_RZ_RXp_RZpp
@ EULER_RZ_RXp_RZpp
CATIA, SolidWorks.
Definition: irobodk.h:171
IRoboDK::EULER_QUEATERNION
@ EULER_QUEATERNION
ABB Rapid.
Definition: irobodk.h:180
IRoboDK::AddStation
virtual Item AddStation(QString name)=0
Add a new empty station. It returns the station item added.
IRoboDK::ItemUserPick
virtual Item ItemUserPick(const QString &message, const QList< Item > &list_choices, int id_selected=-1)=0
Shows a RoboDK popup to select one object from the open RoboDK station. You can provide a few items t...
IRoboDK::RunMode
virtual int RunMode()=0
Returns the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement ins...
IRoboDK::SPRAY_OFF
@ SPRAY_OFF
Activate the spray simulation.
Definition: irobodk.h:250
IRoboDK::Save
virtual void Save(const QString &filename, const Item itemsave=nullptr)=0
Save an item to a file. If no item is provided, the open station is saved.
IRoboDK::Collision
virtual int Collision(Item item1, Item item2)=0
Returns 1 if item1 and item2 collided. Otherwise returns 0.
IRoboDK::Valid
virtual bool Valid(const Item item_check)=0
Check if an item is valid (not null and available in the open station)
IRoboDK::SimulationSpeed
virtual double SimulationSpeed()=0
Gets the current simulation speed. Set the speed to 1 for a real-time simulation.
IRoboDK::CloseRoboDK
virtual void CloseRoboDK()=0
Closes RoboDK window and finishes RoboDK execution
IRoboDK::RunMessage
virtual void RunMessage(const QString &message, bool message_is_comment=false)=0
Shows a message or a comment in the output robot program.
IRoboDK::getItem
virtual Item getItem(const QString &name, int itemtype=-1)=0
Returns an item by its name. If there is no exact match it will return the last closest match.
IRoboDK::getData
virtual QByteArray getData(const QString ¶m)=0
Gets a plugin defined parameter from the open RoboDK station. Saved parameters can be viewed or delet...
IRoboDK::setCollisionActive
virtual int setCollisionActive(int check_state=COLLISION_ON)=0
Turn collision checking ON or OFF (COLLISION_OFF/COLLISION_OFF) according to the collision map....
IRoboDK::PROGRAM_RUN_ON_SIMULATOR
@ PROGRAM_RUN_ON_SIMULATOR
Set the robot program to run on the simulator.
Definition: irobodk.h:100
IRoboDK::PROGRAM_RUN_ON_ROBOT
@ PROGRAM_RUN_ON_ROBOT
Set the robot program to run on the robot.
Definition: irobodk.h:103
IRoboDK::INS_TYPE_MOVEC
@ INS_TYPE_MOVEC
Circular movement instruction.
Definition: irobodk.h:31
IRoboDK::INS_TYPE_CHANGEROBOT
@ INS_TYPE_CHANGEROBOT
Set the robot instruction (obsolete).
Definition: irobodk.h:43
IRoboDK::INS_TYPE_EVENT
@ INS_TYPE_EVENT
Simulation event instruction.
Definition: irobodk.h:49
IRoboDK::INS_TYPE_CHANGESPEED
@ INS_TYPE_CHANGESPEED
Set speed instruction.
Definition: irobodk.h:34
IRoboDK::INS_TYPE_CODE
@ INS_TYPE_CODE
Program call or raw code output.
Definition: irobodk.h:52
IRoboDK::INS_TYPE_INVALID
@ INS_TYPE_INVALID
Invalid instruction.
Definition: irobodk.h:25
IRoboDK::INS_TYPE_MOVE
@ INS_TYPE_MOVE
Linear or joint movement instruction.
Definition: irobodk.h:28
IRoboDK::INS_TYPE_PRINT
@ INS_TYPE_PRINT
Display message on the teach pendant.
Definition: irobodk.h:55
IRoboDK::INS_TYPE_PAUSE
@ INS_TYPE_PAUSE
Pause instruction.
Definition: irobodk.h:46
IRoboDK::INS_TYPE_CHANGEFRAME
@ INS_TYPE_CHANGEFRAME
Set reference frame instruction.
Definition: irobodk.h:37
IRoboDK::INS_TYPE_CHANGETOOL
@ INS_TYPE_CHANGETOOL
Set the tool (TCP) instruction.
Definition: irobodk.h:40
IRoboDK::setData
virtual void setData(const QString ¶m, const QByteArray &value)=0
Sets a data parameter saved with the RoboDK station. If the parameters exists, it will be updated....
IRoboDK::Collisions
virtual int Collisions()=0
Returns the number of pairs of objects that are currently in a collision state. If collision checking...
IRoboDK::PluginLoad
virtual void PluginLoad(const QString &plugin_name="", int load=1)=0
Load or unload the specified plugin (path to DLL, dylib or SO file). If the plugin is already loaded ...
IRoboDK::setParamBytes
virtual void setParamBytes(const QString ¶m, const QByteArray &value)=0
Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be...
IRoboDK::CloseStation
virtual void CloseStation()=0
Close the current station without asking to save.
IRoboDK::Version
virtual QString Version()=0
Return the vesion of RoboDK as a 4 digit string: Major.Minor.Revision.Build
IRoboDK::Render
virtual void Render(int flags=RenderComplete)=0
Update the scene.
IRoboDK::RunCode
virtual int RunCode(const QString &code, bool code_is_fcn_call=false)=0
Adds code to run in the program output. If the program exists it will also run the program in simulat...
IRoboDK::setInteractiveMode
虚拟空白setInteractiveMode (int, int mode_typedefault_ref_flags, const QList< Item > *custom_object=nullptr, int custom_ref_flags=0)=0
Set the interactive mode to define the behavior when navigating and selecting items in RoboDK's 3D vi...
IRoboDK::LaserTrackerMeasure
virtual bool LaserTrackerMeasure(tXYZ xyz, const tXYZ estimate, bool search=false)=0
Takes a laser tracker measurement with respect to its own reference frame. If an estimate point is pr...
IRoboDK::HideRoboDK
virtual void HideRoboDK()=0
Hides the RoboDK window. RoboDK will continue running in the background.
Mat
The Mat class represents a 4x4 pose matrix. The main purpose of this object is to represent a pose in...
Definition: robodktypes.h:361
tJoints
The tJoints class represents a joint position of a robot (robot axes).
Definition: robodktypes.h:239
tColor
The Color struct represents an RGBA color (each color component should be in the range [0-1])
Definition: robodktypes.h:120
tMatrix2D
The tMatrix2D struct represents a variable size 2d Matrix. Use the Matrix2D_... functions to oeprate ...
Definition: robodktypes.h:145