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| PathState | PathStateGet ()=0 |
| | Gets the path state of the Robot.
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| bool | PathStateWait (PathState stateWaitFor, uint64_t timeoutMilliseconds)=0 |
| | Waits for a specific path state.
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| bool | PathStateWaitChange (PathState stateWaitChange, uint64_t timeoutMilliseconds)=0 |
| | Waits for the path state to not be the specified state.
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| uint64_t | MotionCounterGet ()=0 |
| | Gets the current motion counter of the Robot.
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| void | MotionCounterWait (uint64_t motionCount, uint64_t timeoutMilliseconds)=0 |
| | Waits for the counter increment by the specified amount.
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uint64_t | SampleCounterGet ()=0 |
| | Gets the current sample counter of the Robot's main execution thread.
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| void | SampleCounterWait (uint64_t sampleCount, uint64_t timeoutMilliseconds)=0 |
| | Waits for the sample counter of the Robot's main execution thread to incremented by the specified amount.
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| bool | IsRunning ()=0 |
| | Returns whether or not the robot is in motion (from executor or other source). Can be used to determine if safe to command a new move.
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| bool | PathIsRunning ()=0 |
| | Returns whether or not a planned path is being executed. All G-Code gets converted to path. Joint moves aren't path moves.
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| bool | MotionDoneGet ()=0 |
| | Check to see if motion is done and settled.
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| uint64_t | MotionDoneWait ()=0 |
| | Waits for a move to complete.
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| uint64_t | MotionDoneWait (uint64_t timeoutMilliseconds)=0 |
| | Waits for a move to complete.
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| bool | HasError ()=0 |
| | Get the error state of the underlying Trajectory Executor.
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| const char *const | ErrorMessageGet ()=0 |
| | Get the text of any error in the Trajectory Executor.
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| void | Resume ()=0 |
| | Resume an axis.
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| void | Stop ()=0 |
| | Stop an axis.
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| void | EStopAbort ()=0 |
| | E-Stop, then abort an axis.
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| void | Abort ()=0 |
| | Abort an axis.
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| int32_t | AmpEnableSet (bool enable, int32_t ampActiveTimeoutMilliseconds=RapidCodeMotion::AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState=false)=0 |
| | Enable all amplifiers.
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| void | EStop ()=0 |
| | Commands a joint EStop and clears the loaded moves.
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void | ClearFaults ()=0 |
| | Clears the MultiAxis fault then the Robot's error bit.
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| Pose | ActualPoseGet (LinearUnits units=LinearUnits::None)=0 |
| | Get the current actual pose of the robot from the trajectory executor in the specified units. If no units are specified, the Robot's model units are used. The rotation/orientation is stored as a quaternion, so units are not applicable. If you want to get the Euler angles of the orientation then you can use ToEuler(), which will return a Vector3d with the Euler angles in the specified units.
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| RobotPosition | ActualPositionGet (LinearUnits units=LinearUnits::None)=0 |
| | Get the current actual position of the robot from the trajectory executor in the specified units. If no units are specified, the Robot's model units are used. The rotation/orientation is stored as a quaternion, so units are not applicable. If you want to get the Euler angles of the orientation then you can use ToEuler(), which will return a Vector3d with the Euler angles in the specified units.
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| Pose | CommandPoseGet (LinearUnits units=LinearUnits::None)=0 |
| | Get the current commanded pose of the robot from the trajectory executor in the specified units. If no units are specified, the Robot's model units are used. The rotation/orientation is stored as a quaternion, so units are not applicable. If you want to get the Euler angles of the orientation then you can use ToEuler(), which will return a Vector3d with the Euler angles in the specified units.
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| RobotPosition | CommandPositionGet (LinearUnits units=LinearUnits::None)=0 |
| | Get the current commanded position of the robot from the trajectory executor in the specified units. If no units are specified, the Robot's model units are used. The rotation/orientation is stored as a quaternion, so units are not applicable. If you want to get the Euler angles of the orientation then you can use ToEuler(), which will return a Vector3d with the Euler angles in the specified units.
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| RapidVector< double > | JointsActualPositionsGet ()=0 |
| | Get the actual positions of the axes in the underlying MultiAxis.
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| RapidVector< double > | JointsCommandPositionsGet ()=0 |
| | Get the commanded positions of the axes in the underlying MultiAxis.
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| RapidVector< double > | InverseKinematics (Pose pose)=0 |
| | Run the given pose through the current inverse kinematic model to see the joint positions the robot would choose.
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| RapidVector< double > | InverseKinematics (RobotPosition pose)=0 |
| | Run the given pose through the current inverse kinematic model to see the joint positions the robot would choose.
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| Pose | ForwardKinematics (const RapidVector< double > &joints)=0 |
| | Get the Actual pose of the robot from the the joint MultiAxis positions.
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| RobotPosition | ForwardKinematicsPosition (const RapidVector< double > &joints)=0 |
| | Get the Actual position of the robot from the the joint MultiAxis positions.
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const KinematicModel & | ModelGet ()=0 |
| | Get the model this robot was created with.
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| void | EndEffectorTransformSet (const Pose &transform)=0 |
| | Transform that defines the control point relative to the end end of the current kinematic model For example if you have a suction cup EoAT that is 0.15 meters from the mounting point of your robotic arm you could call this method with Pose(0,0,.15) to define the tool z offset.
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void | EndEffectorTransformSet (const RobotPosition &transformPosition)=0 |
| | Transform that defines the control point relative to the end end of the current kinematic model with a RobotPosition.
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| void | OriginTransformSet (const Pose &transform)=0 |
| | Transform that defines the origin of the robot in the world. For example if you have a gantry that is homed but what the command MoveAbsolute(0,0,0) to put you at 4 in the x axis, you could call this method with Pose(4,0,0).
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void | OriginTransformSet (const RobotPosition &transformPosition)=0 |
| | Transform that defines the origin of the robot in the world as a RobotPosition.
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| const RobotPosition & | EndEffectorTransformGet ()=0 |
| | End of Robot to TCP.
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| const RobotPosition & | OriginTransformGet ()=0 |
| | Offset for the origin location.
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| const double | ScaleFactorBetweenUnitsGet (LinearUnits from, LinearUnits to)=0 |
| | Gets scaling for scale factor needed to convert from -> to units by multiplying.
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| const double | ScaleFactorBetweenUnitsGet (RotationalUnits from, RotationalUnits to)=0 |
| | Gets scaling for scale factor needed to convert from -> to units by multiplying.
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| void | MoveAbsolute (const Pose &absolutePose)=0 |
| | Executes a point-to-point absolute motion in cartesian space.
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| void | MoveRelative (const Pose &relativePose)=0 |
| | Executes a point-to-point motion relative to the current end effector Pose.
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| void | PathClear ()=0 |
| | Clears out all loaded lines and arcs from the path. Part of the PathMotion method group.
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| void | PathVelocitySet (double unitsPerSecond)=0 |
| | Sets the target linear cartesian velocity for each move (UserUnits/second).
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| double | PathVelocityGet ()=0 |
| | Gets the target velocity for the machine (UserUnits/second).
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| void | PathAccelerationSet (double unitsPerSecondSquared)=0 |
| | Sets the target acceleration for the machine (UserUnits/second^2). Should be set appropriately based on your hardware.
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| double | PathAccelerationGet ()=0 |
| | Gets the target acceleration for the machine (UserUnits/second^2).
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| void | PathProgrammingModeSet (PathMode mode)=0 |
| | Sets the programming mode (Relative/Absolute).
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| PathMode | PathProgrammingModeGet ()=0 |
| | Gets the programming mode (Relative/Absolute).
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| void | PathArc (const Pose &target, double radius, RotationDirection direction)=0 |
| | Appends an arc on to the current on the PathPlaneGet() plane XY by default.
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| void | PathArc (const RobotPosition &target, double radius, RotationDirection direction)=0 |
| | Appends an arc on to the current on the PathPlaneGet() plane XY by default.
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| void | PathArc (const Pose &target, const Vector3d ¢er, RotationDirection direction)=0 |
| | Appends an arc on to the current path with end pose about a specific center point.
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| void | PathArc (const RobotPosition &RobotPosition, const Vector3d ¢er, RotationDirection direction)=0 |
| | Appends an arc on to the current path with end pose about a specific center point.
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| void | PathLine (const Pose &target)=0 |
| void | PathLine (const RobotPosition &position)=0 |
| void | PathPlaneSet (Plane plane)=0 |
| | Sets the plane for the purposes of ambiguous cases (arcs >= 180deg). Last set plane or XY plane is default.
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| Plane | PathPlaneGet ()=0 |
| | Gets the plane some arcs will be forced to be on.
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| void | PathLinearScalingSet (double scaleFactor)=0 |
| | Sets scaling between the input to path motion and output of path motion to the kinematic model.
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| double | PathLinearScalingGet () const =0 |
| | Gets scaling between input to path motion and output of path motion to the kinematic model.
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| void | PathUnitsSet (LinearUnits units)=0 |
| | Defines the units Cartesian Path Motion is in.
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| LinearUnits | PathUnitsGet () const =0 |
| | Gets the units of path motion.
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| double | PathProcessLoadedMoves ()=0 |
| | Processes our loaded moves. Used internally and to check whether loaded moves are valid, and must be called before both PathPlannedPositionsGet and PathDurationGet.
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| RapidVector< RobotPosition > | PathPlannedPositionsGet (uint64_t startFrame, uint64_t frameCount)=0 |
| | Get Positions (see RobotPosition) representing the planned motion in cartesian space that will happen when run is called.
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| double | PathDurationGet ()=0 |
| | Get total (seconds) duration of the planned motion that will happen when run is called.
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| void | Run ()=0 |
| | Run the loaded path lines/arcs. The behavior is non-blocking. Use Robot.MotionDoneWait() to block.
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| uint32_t | MotionFrameBufferSizeGet ()=0 |
| | Gets the TrajectoryExecutor's buffer size in frames, one frame is used per RMP sample period.
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| const char *const | VersionGet () |
| | Get the RSI RapidCode version.
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int32_t | MpiVersionMajor () |
| | Get the major MPI version.
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int32_t | MpiVersionMinor () |
| | Get the minor MPI version.
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int32_t | MpiVersionRelease () |
| | Get the release MPI version.
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int32_t | RSIVersionMajor () |
| | Get the major RSI version.
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int32_t | RSIVersionMinor () |
| | Get the minor RSI version.
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int32_t | RSIVersionMicro () |
| | Get the micro RSI version.
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int32_t | RSIVersionPatch () |
| | Get the patch RSI version.
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| int32_t | NumberGet () |
| | Get the zero-based index of this object.
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| int32_t | ErrorLogCountGet () |
| | Get the number of software errors in the error log.
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| const RsiError *const | ErrorLogGet () |
| | Get the next RsiError in the log.
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| void | ErrorLogClear () |
| | Clear the error log.
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| void | ThrowExceptions (bool state) |
| | Configure a class to throw exceptions.
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const char *const | RsiErrorMessageGet (RSIErrorMessage msg) |
| | Get the RSI-specific error message text for a specific RSIErrorMessage.
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const char *const | ErrorMessageGet (RSIErrorMessage msg) |
| | Get the detailed text message for an RSIErrorMessage.
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bool | WarningMsgCheck (RSIErrorMessage msg) |
| | Check to see if an RSIErrorMessage is a warning (true) or not (false).
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| void | Trace (bool state) |
| | Enables/Disables trace output.
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| void | TraceMaskOnSet (RSITrace maskOn) |
| | Turn on a particular trace output mask.
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| bool | TraceMaskOnGet (RSITrace maskOn) |
| | Check to see if a particular trace output mask is turned on.
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| void | TraceMaskOffSet (RSITrace maskOff) |
| | Turn off a particular trace output mask.
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| void | TraceMaskClear () |
| | Clear the trace output mask.
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| void | TraceFileSet (const char *const fileName) |
| | Channels Tracing messages to specified file.
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| void | TraceFileClose () |
| | Stops Logging to the file.
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| void | TraceInjectMessage (RSITrace traceLevel, const char *const message) |
| | Add a message to the Trace Log.
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1.15.0