The Item class represents an item in RoboDK station. An item can be a robot, a frame, a tool, an object, a target, ... any item visible in the station 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 (const Item &other)

Item &	operator= (const Item &x)=default

QString	ToString () const

RoboDK *	RDK ()
	Returns the RoboDK link Robolink().

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

int	Type () const
	Item type (object, robot, tool, reference, robot machining project, ...)

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

void	Delete ()
	Deletes an item and its childs from the station.

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

void	setParent (Item parent)
	Attaches the item to a new parent while maintaining the relative position with its parent. The absolute position is changed.

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.

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

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

void	DetachAll (Item parent)
	Detach any object attached to a tool.

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

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

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

void	setVisible (bool visible, int visible_frame=-1)
	Sets the item visiblity status.

QString	Name () const
	Returns the name of an item. The name of the item is always displayed in the RoboDK station tree.

void	setName (const QString &name)
	Set the name of a RoboDK item.

void	setPose (const Mat 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.

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 efector.

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

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

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.

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.

void	setPoseFrame (const Mat 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).

void	setPoseFrame (const Item frame_item)
	Sets the tool of a robot or a tool object (Tool Center 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.

void	setPoseTool (const Mat tool_pose)
	Sets the tool of a robot or a tool object (Tool Center 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.

void	setPoseTool (const Item tool_item)
	Sets the tool of a robot or a tool object (Tool Center 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.

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

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.

void	setColor (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.

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).

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).

GetPointsResult	GetPoints (int featureType=RoboDK::FEATURE_SURFACE, int featureId=0)
	Retrieves the point under the mouse cursor, a curve or the 3D points of an object. The points are provided in [XYZijk] format in relative coordinates. The XYZ are the local point coordinate and ijk is the normal of the surface.

bool	SelectedFeature (int &featureType, int &featureId)
	Retrieve the currently selected feature for this object.

Item	setMachiningParameters (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 in RoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project. Tip: Use getLink() and setLink() to get/set the robot tool, reference frame, robot and program linked to the project. Tip: Use setPose() and setJoints() to update the path to tool orientation or the preferred start joints. Tip: Use setPoseTool() and setPoseFrame() to link to the corresponding tool and reference frames.

void	setAsCartesianTarget ()
	Sets a target as a cartesian target. A cartesian target moves to cartesian coordinates.

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

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

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.

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".

void	setJointsHome (const tJoints &jnts)
	Set robot joints for the home position.

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.

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.

void	setJoints (const tJoints &jnts)
	Set robot joints or the joints of a target.

void	JointLimits (tJoints lower_limits, tJoints upper_limits)
	Retrieve the joint limits of a robot.

void	setJointLimits (const tJoints &lower_limits, const tJoints &upper_limits)
	Set the joint limits of a robot.

void	setRobot (const Item &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.

Item	AddTool (const Mat &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.

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

void	JointsConfig (const tJoints &joints, tConfig config)
	Returns the robot configuration state for a set of robot joints.

tJoints	SolveIK (const Mat &pose, const Mat tool=nullptr, const Mat ref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (see SolveIK_All())

tJoints	SolveIK (const Mat pose, tJoints joints_approx, const Mat tool=nullptr, const Mat ref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (see SolveIK_All())

tMatrix2D *	SolveIK_All_Mat2D (const Mat &pose, const Mat tool=nullptr, const Mat ref=nullptr)
	Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.

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

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

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

void	MoveJ (const Item &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.

void	MoveJ (const tJoints &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.

void	MoveJ (const Mat &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.

void	MoveL (const Item &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.

void	MoveL (const tJoints &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.

void	MoveL (const Mat &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.

void	MoveC (const Item &itemtarget1, const Item &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.

void	MoveC (const tJoints &joints1, const tJoints &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.

void	MoveC (const Mat &target1, const Mat &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.

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

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

void	setSpeed (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.

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

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

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

void	Stop ()
	Stops a program or a robot.

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

void	setAccuracyActive (int accurate=1)
	Sets the accuracy of the robot active or inactive. A robot must have been calibrated to properly use this option.

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

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.

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 the RoboDK GUI.

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 the RoboDK GUI.

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

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.

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.

void	setAO (const QString &io_var, const QString &io_value)
	Set an analog Output.

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.

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.

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.

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.

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

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

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

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

void	setInstruction (int ins_id, const QString &name, int instype, int movetype, bool isjointtarget, const Mat &target, const tJoints &joints)
	Sets the program instruction at position id.

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.

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.

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.

QString	setParam (const QString &param, const QString &value)
	Set a specific item parameter. Select Tools-Run Script-Show Commands to 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.

void	setParam (const QString &param, const QByteArray &value)
	Set a specific binary item parameter.

QByteArray	getParam (const QString &param)
	Get a specific binary item parameter.

bool	Finish ()
	Disconnect from the RoboDK API. This flushes any pending program generation.

quint64	GetID ()
	Get the item pointer.

Private Attributes
RoboDK *	_RDK
	Pointer to RoboDK link object.

quint64	_PTR
	Pointer to the item inside RoboDK.

qint32	_TYPE
	Item type.

Friends
class	RoboDK_API::RoboDK

Detailed Description

The Item class represents an item in RoboDK station. An item can be a robot, a frame, a tool, an object, a target, ... any item visible in the station 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 line 1777 of file robodk_api.h.

Constructor & Destructor Documentation

◆ Item() [1/2]

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

Definition at line 560 of file robodk_api.cpp.

◆ Item() [2/2]

Item ( const Item & other )

Definition at line 565 of file robodk_api.cpp.

◆ ~Item()

~Item ( )

Definition at line 570 of file robodk_api.cpp.

Member Function Documentation

◆ AddTool()

Item AddTool	(	const Mat &	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 line 1257 of file robodk_api.cpp.

◆ AttachClosest()

Item AttachClosest ( )

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

Returns: Attached item

Definition at line 672 of file robodk_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 line 1618 of file robodk_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 line 726 of file robodk_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 in RoboDK

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 in RoboDK

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

Definition at line 1401 of file robodk_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 line 1861 of file robodk_api.cpp.

◆ Delete()

void Delete ( )

Deletes an item and its childs from the station.

Definition at line 624 of file robodk_api.cpp.

◆ DetachAll()

void DetachAll ( Item parent )

Detach any object attached to a tool.

Definition at line 698 of file robodk_api.cpp.

◆ DetachClosest()

Item DetachClosest ( Item parent )

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

Returns: Detached item

Definition at line 685 of file robodk_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: status -> true if disconnected successfully, false if it failed. It can fail if it was previously disconnected manually for example.

Definition at line 1415 of file robodk_api.cpp.

◆ Finish()

bool Finish ( )

Disconnect from the RoboDK API. This flushes any pending program generation.

Returns

Definition at line 2129 of file robodk_api.cpp.

◆ GeometryPose()

Mat GeometryPose ( )

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 line 840 of file robodk_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 line 1825 of file robodk_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 line 1811 of file robodk_api.cpp.

◆ GetID()

quint64 GetID ( )

Get the item pointer.

Definition at line 2134 of file robodk_api.cpp.

◆ getLink()

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.

Returns an item pointer (Item class) 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 line 1184 of file robodk_api.cpp.

◆ getParam()

QByteArray getParam ( const QString & param )

Get a specific binary item parameter.

Parameters

param item parameter

Definition at line 2115 of file robodk_api.cpp.

◆ GetPoints()

GetPointsResult GetPoints	(	int	featureType = RoboDK::FEATURE_SURFACE,
		int	featureId = 0 )

Retrieves the point under the mouse cursor, a curve or the 3D points of an object. The points are provided in [XYZijk] format in relative coordinates. The XYZ are the local point coordinate and ijk is the normal of the surface.

Parameters

featureType	The type of geometry (FEATURE_SURFACE, FEATURE_POINT, ...). Set to FEATURE_SURFACE and if not point or curve was selected, the name of the geometry will be 'point on surface'.
featureId	The internal ID to retrieve the right geometry from the object (use SelectedFeature).

Returns: GetPointsResult object.

Definition at line 1024 of file robodk_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 line 1951 of file robodk_api.cpp.

◆ InstructionCount()

int InstructionCount ( )

Returns the number of instructions of a program.

Returns

ADD MORE METHODS

Returns

Definition at line 1932 of file robodk_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 line 2004 of file robodk_api.cpp.

◆ InstructionListJoints()

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	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)
save_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.
collision_check	Check for collisions
result_flag	set 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)
save_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.
collision_check	Check for collisions
result_flag	set 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 line 2065 of file robodk_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 line 1110 of file robodk_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 line 1212 of file robodk_api.cpp.

◆ Joints()

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.

Returns: double x n: joints matrix

Returns: double x n -> joints matrix

Definition at line 1125 of file robodk_api.cpp.

◆ JointsConfig()

void JointsConfig	(	const tJoints &	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]
joints	array of joints

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

Definition at line 1295 of file robodk_api.cpp.

◆ JointsHome()

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".

Returns: joint values for the home position

Returns: double x n -> joints array

Definition at line 1141 of file robodk_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: success

Definition at line 1680 of file robodk_api.cpp.

◆ MoveC() [1/3]

void MoveC	(	const Item &	itemtarget1,
		const Item &	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 (RoboDK target item)
itemtarget2	Final target to move to as a target item (RoboDK target item)

Parameters

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

Definition at line 1502 of file robodk_api.cpp.

◆ MoveC() [2/3]

void MoveC	(	const Mat &	target1,
		const Mat &	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 line 1522 of file robodk_api.cpp.

◆ MoveC() [3/3]

void MoveC	(	const tJoints &	joints1,
		const tJoints &	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 line 1512 of file robodk_api.cpp.

◆ MoveJ() [1/3]

void MoveJ	(	const Item &	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 (RoboDK target item)

Parameters

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

Definition at line 1429 of file robodk_api.cpp.

◆ MoveJ() [2/3]

void MoveJ	(	const Mat &	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 line 1456 of file robodk_api.cpp.

◆ MoveJ() [3/3]

void MoveJ	(	const tJoints &	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 line 1447 of file robodk_api.cpp.

◆ MoveJ_Test()

int MoveJ_Test	(	const tJoints &	j1,
		const tJoints &	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: collision : 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: collision : 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 line 1533 of file robodk_api.cpp.

◆ MoveL() [1/3]

void MoveL	(	const Item &	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 (RoboDK target item)

Parameters

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

Definition at line 1465 of file robodk_api.cpp.

◆ MoveL() [2/3]

void MoveL	(	const Mat &	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 line 1492 of file robodk_api.cpp.

◆ MoveL() [3/3]

void MoveL	(	const tJoints &	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 line 1483 of file robodk_api.cpp.

◆ MoveL_Test()

int MoveL_Test	(	const tJoints &	j1,
		const Mat &	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: collision : 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: collision : 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 line 1554 of file robodk_api.cpp.

◆ Name()

QString Name ( ) const

Returns the name of an item. The name of the item is always displayed in the RoboDK station tree.

Returns: name of the item

Definition at line 774 of file robodk_api.cpp.

◆ NewLink()

void NewLink ( )

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

Definition at line 593 of file robodk_api.cpp.

◆ ObjectLink()

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.

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 line 1169 of file robodk_api.cpp.

◆ Parent()

Item Parent ( ) const

Return the parent item of this item.

Returns: Parent item

Definition at line 711 of file robodk_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 line 1771 of file robodk_api.cpp.

◆ Pose()

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 efector.

Returns: 4x4 homogeneous matrix (pose)

Definition at line 815 of file robodk_api.cpp.

◆ PoseAbs()

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.

Returns: 4x4 homogeneous matrix (pose)

Definition at line 970 of file robodk_api.cpp.

◆ PoseFrame()

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.

Returns: 4x4 homogeneous matrix (pose)

Definition at line 892 of file robodk_api.cpp.

◆ PoseTool()

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.

Returns: 4x4 homogeneous matrix (pose)

Definition at line 879 of file robodk_api.cpp.

◆ RDK()

RoboDK * RDK ( )

Returns the RoboDK link Robolink().

Returns

Definition at line 586 of file robodk_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 the RoboDK GUI.

Parameters

parameters Number of instructions that can be executed

Definition at line 1736 of file robodk_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 line 1756 of file robodk_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 the RoboDK GUI.

Returns: True if successful

Returns: number of instructions that can be executed

Definition at line 1717 of file robodk_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 line 617 of file robodk_api.cpp.

◆ Scale() [1/2]

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).

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

Parameters

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

Definition at line 1003 of file robodk_api.cpp.

◆ Scale() [2/2]

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).

Parameters

scale scale to apply as [scale_x, scale_y, scale_z]

Definition at line 1016 of file robodk_api.cpp.

◆ SelectedFeature()

bool SelectedFeature	(	int &	featureType,
		int &	featureId )

Retrieve the currently selected feature for this object.

Parameters

featureType	The type of geometry, FEATURE_SURFACE, FEATURE_POINT, ...
featureId	The internal ID to retrieve the raw geometry (use GetPoints)

Returns: True if the object is selected

Definition at line 1047 of file robodk_api.cpp.

◆ setAccuracyActive()

void setAccuracyActive ( int accurate = 1 )

Sets the accuracy of the robot active or inactive. A robot must have been calibrated to properly use this option.

Parameters

accurate set to 1 to use the accurate model or 0 to use the nominal model

Definition at line 1662 of file robodk_api.cpp.

◆ setAO()

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 line 1798 of file robodk_api.cpp.

◆ setAsCartesianTarget()

void setAsCartesianTarget ( )

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

Definition at line 1090 of file robodk_api.cpp.

◆ setAsJointTarget()

void setAsJointTarget ( )

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

Definition at line 1100 of file robodk_api.cpp.

◆ setColor()

void setColor ( 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.

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	color 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 line 983 of file robodk_api.cpp.

◆ setDO()

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 line 1785 of file robodk_api.cpp.

◆ setGeometryPose()

void setGeometryPose ( const Mat 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 line 828 of file robodk_api.cpp.

◆ setInstruction()

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

Sets the program instruction at position id.

Parameters

ins_id
name
instype
movetype
isjointtarget
target
joints

Definition at line 1981 of file robodk_api.cpp.

◆ setJointLimits()

void setJointLimits	(	const tJoints &	lower_limits,
		const tJoints &	upper_limits )

Set the joint limits of a robot.

Parameters

lower_limits
upper_limits

Definition at line 1227 of file robodk_api.cpp.

◆ setJoints()

void setJoints ( const tJoints & 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 line 1199 of file robodk_api.cpp.

◆ setJointsHome()

void setJointsHome ( const tJoints & jnts )

Set robot joints for the home position.

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

Parameters

joints

Definition at line 1156 of file robodk_api.cpp.

◆ setMachiningParameters()

Item setMachiningParameters	(	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 in RoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project.
Tip: Use getLink() and setLink() to get/set the robot tool, reference frame, robot and program linked to the project.
Tip: Use setPose() and setJoints() to update the path to tool orientation or the preferred start joints.
Tip: Use setPoseTool() and setPoseFrame() 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 in RoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project. Tip: Use getLink() and setLink() to get/set the robot tool, reference frame, robot and program linked to the project. Tip: Use setPose() and setJoints() 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.setPoseFrame(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). Use Update() 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). Use Update() to retrieve the result

Definition at line 1071 of file robodk_api.cpp.

◆ setName()

void setName ( const QString & name )

Set the name of a RoboDK item.

Parameters

name

Definition at line 787 of file robodk_api.cpp.

◆ setParam() [1/2]

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

Set a specific binary item parameter.

Parameters

param	item parameter
value	binary data

Definition at line 2106 of file robodk_api.cpp.

◆ setParam() [2/2]

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

Set a specific item parameter. Select Tools-Run Script-Show Commands to 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 line 2095 of file robodk_api.cpp.

◆ setParent()

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 line 647 of file robodk_api.cpp.

◆ setParentStatic()

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 line 660 of file robodk_api.cpp.

◆ setPose()

void setPose ( const Mat 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 line 802 of file robodk_api.cpp.

◆ setPoseAbs()

void setPoseAbs ( const Mat 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 line 957 of file robodk_api.cpp.

◆ setPoseFrame() [1/2]

void setPoseFrame ( const Item frame_item )

Sets the tool of a robot or a tool object (Tool Center 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 line 919 of file robodk_api.cpp.

◆ setPoseFrame() [2/2]

void setPoseFrame ( const Mat 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 line 906 of file robodk_api.cpp.

◆ setPoseTool() [1/2]

void setPoseTool ( const Item tool_item )

Sets the tool of a robot or a tool object (Tool Center 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 line 945 of file robodk_api.cpp.

◆ setPoseTool() [2/2]

void setPoseTool ( const Mat tool_pose )

Sets the tool of a robot or a tool object (Tool Center 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 line 932 of file robodk_api.cpp.

◆ setRobot()

void setRobot ( const Item & 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 line 1242 of file robodk_api.cpp.

◆ setRounding()

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 line 1593 of file robodk_api.cpp.

◆ setRunType()

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 line 1700 of file robodk_api.cpp.

◆ setSpeed()

void setSpeed	(	double	speed_linear,
		double	speed_joints = -1,
		double	accel_linear = -1,
		double	accel_joints = -1 )

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

Parameters

speed_linear	linear speed in mm/s (-1 = no change)
accel_linear	linear acceleration in mm/s2 (-1 = no change)
speed_joints	joint speed in deg/s (-1 = no change)
accel_joints	joint acceleration in deg/s2 (-1 = no change)

Parameters

speed_linear	linear speed in mm/s (-1 = no change)
speed_joints	joint speed in deg/s (-1 = no change)
accel_linear	linear acceleration in mm/s2 (-1 = no change)
accel_joints	joint acceleration in deg/s2 (-1 = no change)

Definition at line 1576 of file robodk_api.cpp.

◆ setVisible()

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

Sets the item visiblity status.

Parameters

visible
visible_reference	set the visible reference frame (1) or not visible (0)

Parameters

visible
visible_frame	srt the visible reference frame (1) or not visible (0)

Definition at line 757 of file robodk_api.cpp.

◆ ShowInstructions()

void ShowInstructions ( bool visible = true )

Show or hide instruction items of a program in the RoboDK tree.

Parameters

show

Definition at line 1906 of file robodk_api.cpp.

◆ ShowSequence()

void ShowSequence ( tMatrix2D * sequence )

Displays a sequence of joints.

Parameters

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

Definition at line 1605 of file robodk_api.cpp.

◆ ShowTargets()

void ShowTargets ( bool visible = true )

Show or hide targets of a program in the RoboDK tree.

Parameters

show

Definition at line 1918 of file robodk_api.cpp.

◆ SolveFK()

Mat SolveFK	(	const tJoints &	joints,
		const Mat *	tool = nullptr,
		const Mat *	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 line 1273 of file robodk_api.cpp.

◆ SolveIK() [1/2]

tJoints SolveIK	(	const Mat &	pose,
		const Mat *	tool = nullptr,
		const Mat *	ref = nullptr )

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

Parameters

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

Returns: array of joints

Definition at line 1313 of file robodk_api.cpp.

◆ SolveIK() [2/2]

tJoints SolveIK	(	const Mat	pose,
		tJoints	joints_approx,
		const Mat *	tool = nullptr,
		const Mat *	ref = nullptr )

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

Parameters

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

Returns: array of joints

Definition at line 1341 of file robodk_api.cpp.

◆ SolveIK_All()

QList< tJoints > SolveIK_All	(	const Mat &	pose,
		const Mat *	tool = nullptr,
		const Mat *	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	4x4 matrix -> 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 line 1383 of file robodk_api.cpp.

◆ SolveIK_All_Mat2D()

tMatrix2D * SolveIK_All_Mat2D	(	const Mat &	pose,
		const Mat *	tool = nullptr,
		const Mat *	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	4x4 matrix -> 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	4x4 matrix -> pose of the robot tool with respect to the robot frame

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

Definition at line 1366 of file robodk_api.cpp.

◆ Stop()

void Stop ( )

Stops a program or a robot.

Returns

Definition at line 1631 of file robodk_api.cpp.

◆ ToString()

QString ToString ( ) const

Definition at line 574 of file robodk_api.cpp.

◆ Type()

int Type ( ) const

Item type (object, robot, tool, reference, robot machining project, ...)

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

GENERIC ITEM CALLS

Returns

Definition at line 602 of file robodk_api.cpp.

◆ Update()

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.

Parameters

collision_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 line 2026 of file robodk_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 Item to check

Returns

True if the item exists, false otherwise

true if valid, false if invalid

Definition at line 637 of file robodk_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 line 744 of file robodk_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 line 1841 of file robodk_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 line 1642 of file robodk_api.cpp.

Friends And Related Symbol Documentation

◆ RoboDK_API::RoboDK

friend class RoboDK_API::RoboDK

friend

Definition at line 1778 of file robodk_api.h.

Member Data Documentation

◆ _PTR

quint64 _PTR

private

Pointer to the item inside RoboDK.

Definition at line 2545 of file robodk_api.h.

◆ _RDK

RoboDK* _RDK

private

Pointer to RoboDK link object.

Definition at line 2542 of file robodk_api.h.

◆ _TYPE

qint32 _TYPE

private

Item type.

Definition at line 2548 of file robodk_api.h.

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

Public Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Item() [1/2]

◆ Item() [2/2]

◆ ~Item()

Member Function Documentation

◆ AddTool()

◆ AttachClosest()

◆ Busy()

◆ Childs()

◆ Connect()

◆ customInstruction()

◆ Delete()

◆ DetachAll()

◆ DetachClosest()

◆ Disconnect()

◆ Finish()

◆ GeometryPose()

◆ getAI()

◆ getDI()

◆ GetID()

◆ getLink()

◆ getParam()

◆ GetPoints()

◆ 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]

◆ SelectedFeature()

◆ setAccuracyActive()

◆ setAO()

◆ setAsCartesianTarget()

◆ setAsJointTarget()

◆ setColor()

◆ setDO()

◆ setGeometryPose()

◆ setInstruction()

◆ setJointLimits()

◆ setJoints()

◆ setJointsHome()

◆ setMachiningParameters()

◆ setName()

◆ setParam() [1/2]

◆ setParam() [2/2]