| ▼NRSI | |
| ▼NRapidCode | |
| ▼NCartesian | The Cartesian namespace |
| CGcode | Represents 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 |
| CGcodeCallback | Handles callbacks for M-codes within a G-code file |
| CGcodeCallbackData | Holds data for the G-code M-code callback mechanism |
| CKinematicModel | Describes the mathematical kinematic model of a robot |
| CKinematicModelBuilder | The 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 | |
| CLinearModelBuilder | The Builder for a linear kinematic model. Constructs a single Linear Kinematic Model to use when creating a Robot |
| CModelAxisMapping | Data for adding joint or free-axis mappings when building a kinematic model |
| CPose | Pose |
| CQuaternion | Quaternion for representing rotations |
| CRobot | Represents 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 |
| CRobotPosition | A representation of the robot containing the Pose and the positions of the free axes |
| CVector3d | Vector3d is used for three-dimensional points and vectors |
| CAxis | Represents 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 |
| CFirmwareValue | Union representing a generic RMP firmware value with multiple data types, stored in 64-bits |
| CIO | The IO object provides an interface to the inputs and outputs of a network node |
| CIOPoint | Represents 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 |
| ▼CMotionController | Represents 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. |
| CCreationParameters | CreationParameters for MotionController::Create |
| CMathBlockConfig | MathBlock configuration structure |
| CMultiAxis | Represents 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 |
| CNetworkNode | Represents 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 |
| CRapidCodeInterrupt | Interface for objects which can use interrupts |
| CRapidCodeMotion | The RapidCodeMotion interface is implemented by Axis and MultiAxis |
| CRapidCodeObject | The RapidCode base class. All non-error objects are derived from this class |
| CRapidCodeOS | The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController |
| CRapidVector | A 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) |
| CRapidVectorImplementation | Forward declaration of the implementation class for RapidVector |
| CRsiError | Represents 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# |
| CRTOS | Represents the real-time operating system (INtime) when using RMP for Windows. This class provides static methods to start, stop, and restart INtime |
| CTrace | Tracing allows for low level logs to be generated |
| CHelperFunctions | Helper Functions for checking logged creation errors, starting the network, etc |
| CHelperFunctionsCS | HelperFunctionsCS class provides static methods for common tasks in RMP applications |
| CSampleAppsConfig | This struct provides static methods and constants for user configuration in RMP applications. Everything in this struct is expected to be modifed by the user |
| CSampleGcodeCallback | Make a Callback class and register it with the Gcode object |
1.10.0