APIs, concepts, guides, and more
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 1234]
 NRSI
 NRapidCode
 NCartesianThe Cartesian namespace
 CGcodeRepresents a G-code program executor. This class provides an interface to load and run G-code programs with a callback interface for M-codes. An instance of this class is created by the Robot class, access it via the Robot.Gcode property
 CGcodeCallbackHandles callbacks for M-codes within a G-code file
 CGcodeCallbackDataHolds data for the G-code M-code callback mechanism
 CKinematicModelDescribes the mathematical kinematic model of a robot
 CKinematicModelBuilderThe abstract class for Kinematic Model builders. Constructs a single Kinematic Model to use when creating a Robot. KinematicModelBuilder instances will retain a reference to the constructed model until the instance is destroyed. Concrete subclasses will provide methods for adding axes and configuring the model
 CLinearJointMapping
 CLinearModelBuilderThe Builder for a linear kinematic model. Constructs a single Linear Kinematic Model to use when creating a Robot
 CModelAxisMappingData for adding joint or free-axis mappings when building a kinematic model
 CPosePose
 CQuaternionQuaternion for representing rotations
 CRobotRepresents a collection of joints in Cartesian space with forward and inverse kinematics. This class provides an interface for 3D Path motion for any actuator, whether it be an articulated arm, a linear gantry, or a custom robot. Use Robot Creation Methods to make one using a MotionController, MultiAxis and a kinematic model. Visit the Path Motion or G-Code for more information on how to use the Robot class
 CRobotPositionA representation of the robot containing the Pose and the positions of the free axes
 CVector3dVector3d is used for three-dimensional points and vectors
 CAxisRepresents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory parameters, homing, limit switch configuration, motor configuration, position capture, configuring filter (control law) parameters, electronic gearing and access to its NetworkNode. Get or create an Axis object using MotionController::AxisGet
 CFirmwareValueUnion representing a generic RMP firmware value with multiple data types, stored in 64-bits
 CIOThe IO object provides an interface to the inputs and outputs of a network node
 CIOPointRepresents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input. This class provides a helper interface to any I/O, regardless of where it resides: MotionController, Axis, or NetworkNode. To create an IOPoint, use IOPoint Creation Methods
 CMotionControllerRepresents the RMP soft motion controller. This class provides an interface to general controller configuration, firmware upload/download, network, user limits and data recording. To make a MotionController object, use MotionController creation methods.
 CCreationParametersCreationParameters for MotionController::Create
 CMathBlockConfigMathBlock configuration structure
 CMultiAxisRepresents multiple axes of motion control, allows you to map two or more Axis objects together for error propagation and commanding coordinated, synchronized motion. Create or get a MultiAxis object using MotionController::MultiAxisGet or MotionController::LoadExistingMultiAxis
 CNetworkNodeRepresents an EtherCAT node / SubDevice (Drive, I/O Block, etc) on the network. This class provides an interface to all digital and analog I/O on the node, as well as the ability to read and write SDOs. Get or create a NetworkNode using MotionController::NetworkNodeGet or the Axis property, NetworkNode
 CRapidCodeInterruptInterface for objects which can use interrupts
 CRapidCodeMotionThe RapidCodeMotion interface is implemented by Axis and MultiAxis
 CRapidCodeObjectThe RapidCode base class. All non-error objects are derived from this class
 CRapidCodeOSThe RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController
 CRapidVectorA wrapper class for the C++ STL vector class that aims to maintain application binary interface. Provides some of the basic vector operations (with RapidCode naming conventions)
 CRapidVectorImplementationForward declaration of the implementation class for RapidVector
 CRsiErrorRepresents the error details thrown as an exception by all RapidCode classes. This class contains an error number/type, RSIErrorMessage, and a text message which describes the error. Throwing exceptions can be disabled on all RSI classes. If throwing exceptions is disabled, a log of RsiErrors can be accessed. Inherits from std::exception in C++ and System.Exception in C#
 CRTOSRepresents the real-time operating system (INtime) when using RMP for Windows. This class provides static methods to start, stop, and restart INtime
 CTraceTracing allows for low level logs to be generated
 CHelperFunctionsHelper Functions for checking logged creation errors, starting the network, etc
 CHelperFunctionsCSHelperFunctionsCS class provides static methods for common tasks in RMP applications
 CSampleAppsConfigThis struct provides static methods and constants for user configuration in RMP applications. Everything in this struct is expected to be modifed by the user
 CSampleGcodeCallbackMake a Callback class and register it with the Gcode object