This class is the iterface to the RoboDK API. With the RoboDK API you can automate certain tasks and operate on items. Interactions with items in the station tree are made through Items (IItem). An item is an object in the RoboDK tree (it can be either a robot, an object, a tool, a frame, a program, ...). More...

#include <robodk_api.h>

Public Types
enum	{ ITEM_TYPE_ANY = -1 , ITEM_TYPE_STATION = 1 , ITEM_TYPE_ROBOT = 2 , ITEM_TYPE_FRAME = 3 , ITEM_TYPE_TOOL = 4 , ITEM_TYPE_OBJECT = 5 , ITEM_TYPE_TARGET = 6 , ITEM_TYPE_PROGRAM = 8 , ITEM_TYPE_INSTRUCTION = 9 , ITEM_TYPE_PROGRAM_PYTHON = 10 , ITEM_TYPE_MACHINING = 11 , ITEM_TYPE_BALLBARVALIDATION = 12 , ITEM_TYPE_CALIBPROJECT = 13 , ITEM_TYPE_VALID_ISO9283 = 14 }
	Tree item types. More...

enum	{ INS_TYPE_INVALID = -1 , INS_TYPE_MOVE = 0 , INS_TYPE_MOVEC = 1 , INS_TYPE_CHANGESPEED = 2 , INS_TYPE_CHANGEFRAME = 3 , INS_TYPE_CHANGETOOL = 4 , INS_TYPE_CHANGEROBOT = 5 , INS_TYPE_PAUSE = 6 , INS_TYPE_EVENT = 7 , INS_TYPE_CODE = 8 , INS_TYPE_PRINT = 9 }
	Instruction types. More...

enum	{ MOVE_TYPE_INVALID = -1 , MOVE_TYPE_JOINT = 1 , MOVE_TYPE_LINEAR = 2 , MOVE_TYPE_CIRCULAR = 3 }
	Movement types. More...

enum	{ RUNMODE_SIMULATE = 1 , RUNMODE_QUICKVALIDATE = 2 , RUNMODE_MAKE_ROBOTPROG = 3 , RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD = 4 , RUNMODE_MAKE_ROBOTPROG_AND_START = 5 , RUNMODE_RUN_ROBOT = 6 }
	Script execution types used by IRoboDK.setRunMode and IRoboDK.RunMode. More...

enum	{ PROGRAM_RUN_ON_SIMULATOR = 1 , PROGRAM_RUN_ON_ROBOT = 2 }
	Program execution type. More...

enum	{ CALIBRATE_TCP_BY_POINT = 0 , CALIBRATE_TCP_BY_PLANE = 1 }
	TCP calibration types. More...

enum	{ CALIBRATE_FRAME_3P_P1_ON_X = 0 , CALIBRATE_FRAME_3P_P1_ORIGIN = 1 , CALIBRATE_FRAME_6P = 2 , CALIBRATE_TURNTABLE = 3 }
	Reference frame calibration types. More...

enum	{ PROJECTION_NONE = 0 , PROJECTION_CLOSEST = 1 , PROJECTION_ALONG_NORMAL = 2 , PROJECTION_ALONG_NORMAL_RECALC = 3 , PROJECTION_CLOSEST_RECALC = 4 , PROJECTION_RECALC = 5 }
	projection types (for AddCurve) More...

enum	{ JOINT_FORMAT = -1 , EULER_RX_RYp_RZpp = 0 , EULER_RZ_RYp_RXpp = 1 , EULER_RZ_RYp_RZpp = 2 , EULER_RZ_RXp_RZpp = 3 , EULER_RX_RY_RZ = 4 , EULER_RZ_RY_RX = 5 , EULER_QUEATERNION = 6 }
	Euler type. More...

enum	{ WINDOWSTATE_HIDDEN = -1 , WINDOWSTATE_SHOW = 0 , WINDOWSTATE_MINIMIZED = 1 , WINDOWSTATE_NORMAL = 2 , WINDOWSTATE_MAXIMIZED = 3 , WINDOWSTATE_FULLSCREEN = 4 , WINDOWSTATE_CINEMA = 5 , WINDOWSTATE_FULLSCREEN_CINEMA = 6 }
	State of the RoboDK window. More...

enum	{ INSTRUCTION_CALL_PROGRAM = 0 , INSTRUCTION_INSERT_CODE = 1 , INSTRUCTION_START_THREAD = 2 , INSTRUCTION_COMMENT = 3 , INSTRUCTION_SHOW_MESSAGE = 4 }
	Instruction program call type: More...

enum	{ FEATURE_NONE = 0 , FEATURE_SURFACE = 1 , FEATURE_CURVE = 2 , FEATURE_POINT = 3 }
	Object selection features: More...

enum	{ SPRAY_OFF = 0 , SPRAY_ON = 1 }
	Spray gun simulation: More...

enum	{ COLLISION_OFF = 0 , COLLISION_ON = 1 }
	Collision checking state. More...

enum	{ EVENT_SELECTION_TREE_CHANGED = 1 , EVENT_ITEM_MOVED = 2 , EVENT_REFERENCE_PICKED = 3 , EVENT_REFERENCE_RELEASED = 4 , EVENT_TOOL_MODIFIED = 5 , EVENT_CREATED_ISOCUBE = 6 , EVENT_SELECTION_3D_CHANGED = 7 , EVENT_3DVIEW_MOVED = 8 , EVENT_ROBOT_MOVED = 9 , EVENT_KEY = 10 , EVENT_ITEM_MOVED_POSE = 11 }

enum	{ FLAG_ROBODK_TREE_ACTIVE = 1 , FLAG_ROBODK_3DVIEW_ACTIVE = 2 , FLAG_ROBODK_LEFT_CLICK = 4 , FLAG_ROBODK_RIGHT_CLICK = 8 , FLAG_ROBODK_DOUBLE_CLICK = 16 , FLAG_ROBODK_MENU_ACTIVE = 32 , FLAG_ROBODK_MENUFILE_ACTIVE = 64 , FLAG_ROBODK_MENUEDIT_ACTIVE = 128 , FLAG_ROBODK_MENUPROGRAM_ACTIVE = 256 , FLAG_ROBODK_MENUTOOLS_ACTIVE = 512 , FLAG_ROBODK_MENUUTILITIES_ACTIVE = 1024 , FLAG_ROBODK_MENUCONNECT_ACTIVE = 2048 , FLAG_ROBODK_WINDOWKEYS_ACTIVE = 4096 , FLAG_ROBODK_NONE = 0 , FLAG_ROBODK_ALL = 0xFFFF , FLAG_ROBODK_MENU_ACTIVE_ALL = FLAG_ROBODK_MENU_ACTIVE \| FLAG_ROBODK_MENUFILE_ACTIVE \| FLAG_ROBODK_MENUEDIT_ACTIVE \| FLAG_ROBODK_MENUPROGRAM_ACTIVE \| FLAG_ROBODK_MENUTOOLS_ACTIVE \| FLAG_ROBODK_MENUUTILITIES_ACTIVE \| FLAG_ROBODK_MENUCONNECT_ACTIVE }
	RoboDK Window Flags. More...

enum	{ FLAG_ITEM_SELECTABLE = 1 , FLAG_ITEM_EDITABLE = 2 , FLAG_ITEM_DRAGALLOWED = 4 , FLAG_ITEM_DROPALLOWED = 8 , FLAG_ITEM_ENABLED = 32 , FLAG_ITEM_AUTOTRISTATE = 64 , FLAG_ITEM_NOCHILDREN = 128 , FLAG_ITEM_USERTRISTATE = 256 , FLAG_ITEM_NONE = 0 , FLAG_ITEM_ALL = 64 + 32 + 8 + 4 + 2 + 1 }
	RoboDK Item Flags. More...

Public Member Functions
	RoboDK (const QString &robodk_ip="", int com_port=-1, const QString &args="", const QString &path="")

quint64	ProcessID ()

quint64	WindowID ()

bool	Connected ()

bool	Connect ()

void	Disconnect ()
	Disconnect from the RoboDK API. This flushes any pending program generation. More...

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

Item	getItem (QString name, int itemtype=-1)
	Returns an item by its name. If there is no exact match it will return the last closest match. More...

QStringList	getItemListNames (int filter=-1)
	Returns a list of items (list of names or Items) of all available items in the currently open station in RoboDK. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_TYPE_ROBOT)) More...

QList< Item >	getItemList (int filter=-1)
	Returns a list of items (list of names or pointers) of all available items in the currently open station in RoboDK. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_CASE_ROBOT)) More...

Item	ItemUserPick (const QString &message="Pick one item", int itemtype=-1)
	Shows a RoboDK popup to select one object from the open RoboDK station. An item type can be specified to filter desired items. If no type is specified, all items are selectable. More...

void	ShowRoboDK ()
	Shows or raises the RoboDK window. More...

void	HideRoboDK ()
	Hides the RoboDK window. RoboDK will continue running in the background. More...

void	CloseRoboDK ()
	Closes RoboDK window and finishes RoboDK execution More...

QString	Version ()
	Return the vesion of RoboDK as a 4 digit string: Major.Minor.Revision.Build More...

void	setWindowState (int windowstate=WINDOWSTATE_NORMAL)
	Set the state of the RoboDK window More...

void	setFlagsRoboDK (int flags=FLAG_ROBODK_ALL)
	Update the RoboDK flags. RoboDK flags allow defining how much access the user has to certain RoboDK features. Use FLAG_ROBODK_* variables to set one or more flags. More...

void	setFlagsItem (Item item, int flags=FLAG_ITEM_ALL)
	Update item flags. Item flags allow defining how much access the user has to item-specific features. Use FLAG_ITEM_* flags to set one or more flags. More...

int	getFlagsItem (Item item)
	Retrieve current item flags. Item flags allow defining how much access the user has to item-specific features. Use FLAG_ITEM_* flags to set one or more flags. More...

void	ShowMessage (const QString &message, bool popup=true)
	Show a message in RoboDK (it can be blocking or non blocking in the status bar) More...

void	Copy (const Item &tocopy)
	Makes a copy of an item (same as Ctrl+C), which can be pasted (Ctrl+V) using Paste(). More...

Item	Paste (const Item *paste_to=nullptr)
	Paste the copied item as a dependency of another item (same as Ctrl+V). Paste should be used after Copy(). It returns the newly created item. More...

Item	AddFile (const QString &filename, const Item *parent=nullptr)
	Loads a file and attaches it to parent. It can be any file supported by RoboDK. More...

void	Save (const QString &filename, const Item *itemsave=nullptr)
	Save an item to a file. If no item is provided, the open station is saved. More...

Item	AddShape (tMatrix2D trianglePoints, Item addTo=nullptr, bool shapeOverride=false, Color *color=nullptr)
	Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices. A vertex normal can be provided optionally. More...

Item	AddCurve (tMatrix2D curvePoints, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)
	Adds a curve provided point coordinates. The provided points must be a list of vertices. A vertex normal can be provided optionally. More...

Item	AddPoints (tMatrix2D points, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)
	Adds a list of points to an object. The provided points must be a list of vertices. A vertex normal can be provided optionally. More...

void	ProjectPoints (tMatrix2D points, tMatrix2D *projected, Item objectProject, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)
	Projects a point given its coordinates. The provided points must be a list of [XYZ] coordinates. Optionally, a vertex normal can be provided [XYZijk]. More...

void	CloseStation ()
	Close the current station without asking to save. More...

Item	AddTarget (const QString &name, Item itemparent=nullptr, Item itemrobot=nullptr)
	Adds a new target that can be reached with a robot. More...

Item	AddFrame (const QString &name, Item *itemparent=nullptr)
	Adds a new Frame that can be referenced by a robot. More...

Item	AddProgram (const QString &name, Item *itemrobot=nullptr)
	Adds a new Frame that can be referenced by a robot. More...

Item	AddStation (const QString &name)
	Add a new empty station. It returns the station item added. More...

Item	AddMachiningProject (const QString &name="Curve follow settings", Item *itemrobot=nullptr)
	Add a new robot machining project. Machining projects can also be used for 3D printing, following curves and following points. It returns the newly created Item containing the project settings. Tip: Use the macro /RoboDK/Library/Macros/MoveRobotThroughLine.py to see an example that creates a new "curve follow project" given a list of points to follow(Option 4). More...

QList< Item >	getOpenStation ()
	Returns the list of open stations in RoboDK. More...

void	setActiveStation (Item stn)
	Set the active station (project currently visible). More...

Item	getActiveStation ()
	Returns the active station item (station currently visible). More...

int	RunProgram (const QString &function_w_params)
	Adds a function call in the program output. RoboDK will handle the syntax when the code is generated for a specific robot. If the program exists it will also run the program in simulate mode. More...

int	RunCode (const QString &code, bool code_is_fcn_call=false)
	Adds code to run in the program output. If the program exists it will also run the program in simulation mode. More...

void	RunMessage (const QString &message, bool message_is_comment=false)
	Shows a message or a comment in the output robot program. More...

void	Render (bool always_render=false)
	Update the scene. More...

void	Update ()
	Update the screen. This updates the position of all robots and internal links according to previously set values. More...

bool	IsInside (Item object_inside, Item object_parent)
	Check if an object is fully inside another one. More...

int	setCollisionActive (int check_state=COLLISION_ON)
	Turn collision checking ON or OFF (COLLISION_OFF/COLLISION_OFF) according to the collision map. If collision checking is activated it returns the number of pairs of objects that are currently in a collision state. More...

bool	setCollisionActivePair (int check_state, Item item1, Item item2, int id1=0, int id2=0)
	Set collision checking ON or OFF (COLLISION_ON/COLLISION_OFF) for a specific pair of objects. This allows altering the collision map for Collision checking. Specify the link id for robots or moving mechanisms (id 0 is the base). More...

int	Collisions ()
	Returns the number of pairs of objects that are currently in a collision state. More...

int	Collision (Item item1, Item item2)
	Returns 1 if item1 and item2 collided. Otherwise returns 0. More...

QList< Item >	getCollisionItems (QList< int > link_id_list)
	Return the list of items that are in a collision state. This function can be used after calling Collisions() to retrieve the items that are in a collision state. More...

void	setSimulationSpeed (double speed)
	Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed allowed is 0.001 times the real speed. Set to a high value (>100) for fast simulation results. More...

double	SimulationSpeed ()
	Gets the current simulation speed. Set the speed to 1 for a real-time simulation. More...

void	setRunMode (int run_mode=1)
	Sets the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instructions (run_mode=1=RUNMODE_SIMULATE). Setting the run_mode to RUNMODE_QUICKVALIDATE allows performing a quick check to see if the path is feasible. if robot.Connect() is used, RUNMODE_RUN_FROM_PC is selected automatically. More...

int	RunMode ()
	Returns the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instructions (run_mode=1). More...

QList< QPair< QString, QString > >	getParams ()
	Gets all the user parameters from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" User parameters can be added or modified by the user More...

QString	getParam (const QString &param)
	Gets a global or a user parameter from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" Some available parameters: PATH_OPENSTATION = folder path of the current .stn file FILE_OPENSTATION = file path of the current .stn file PATH_DESKTOP = folder path of the user's folder Other parameters can be added or modified by the user More...

void	setParam (const QString &param, const QString &value)
	Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified. If not, it will be added to the station. The parameters can also be modified by right clicking the station and selecting "shared parameters". More...

QString	Command (const QString &cmd, const QString &value="")
	Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events. More...

bool	LaserTrackerMeasure (tXYZ xyz, tXYZ estimate, bool search=false)
	Takes a laser tracker measurement with respect to its own reference frame. If an estimate point is provided, the laser tracker will first move to those coordinates. If search is True, the tracker will search for a target. More...

bool	CollisionLine (tXYZ p1, tXYZ p2)
	Checks the collision between a line and any objects in the station. The line is composed by 2 points. Returns the collided item. Use Item.Valid() to check if there was a valid collision. More...

void	setVisible (QList< Item > itemList, QList< bool > visibleList, QList< int > visibleFrames)
	Set a list of items visibile (faster than the default setVisible())

void	ShowAsCollided (QList< Item > itemList, QList< bool > collidedList, QList< int > *robot_link_id=nullptr)
	Show a list of items as collided. More...

void	CalibrateTool (tMatrix2D poses_joints, tXYZ tcp_xyz, int format=EULER_RX_RY_RZ, int algorithm=CALIBRATE_TCP_BY_POINT, Item robot=nullptr, double *error_stats=nullptr)
	Calibrate a tool (TCP) given a number of points or calibration joints. Important: If the robot is calibrated, provide joint values to maximize accuracy. More...

Mat	CalibrateReference (tMatrix2D poses_joints, int method=CALIBRATE_FRAME_3P_P1_ON_X, bool use_joints=false, Item robot=nullptr)
	Calibrate a Reference Frame given a list of points or joint values. Important: If the robot is calibrated, provide joint values to maximize accuracy. More...

int	ProgramStart (const QString &progname, const QString &defaultfolder="", const QString &postprocessor="", Item *robot=nullptr)
	Defines the name of the program when the program is generated. It is also possible to specify the name of the post processor as well as the folder to save the program. This method must be called before any program output is generated (before any robot movement or other instruction). More...

void	setViewPose (const Mat &pose)
	Set the pose of the wold reference frame with respect to the user view (camera/screen). More...

Mat	ViewPose ()
	Get the pose of the wold reference frame with respect to the user view (camera/screen). More...

Item	Cam2D_Add (const Item &item_object, const QString &cam_params, const Item *cam_item=nullptr)
	Add a simulated 2D or depth camera as an item. Use Delete to delete it. More...

int	Cam2D_Snapshot (const QString &file_save_img, const Item &cam_item, const QString &params="")
	Take a snapshot of a simulated camera and save it as an image. More...

int	Cam2D_SetParams (const QString &cam_params, const Item &cam_item)
	Set the camera parameters. More...

bool	setRobotParams (Item *robot, tMatrix2D dhm, Mat poseBase, Mat poseTool)
	Set the nominal robot parameters. More...

Item	getCursorXYZ (int x=-1, int y=-1, tXYZ xyzStation=nullptr)
	Returns the position of the cursor as XYZ coordinates (by default), or the 3D position of a given set of 2D coordinates of the window (x & y coordinates in pixels from the top left corner) The XYZ coordinates returned are given with respect to the RoboDK station(absolute reference). If no coordinates are provided, the current position of the cursor is retrieved. More...

QString	License ()
	Returns the license as a readable string (same name shown in the RoboDK's title bar, on top of the main menu). More...

QList< Item >	Selection ()
	Returns the list of items selected (it can be one or more items). More...

void	setSelection (QList< Item > list_items)
	Sets the selection in the tree (it can be one or more items). More...

void	PluginLoad (const QString &pluginName, int load=1)
	Load or unload the specified plugin (path to DLL, dylib or SO file). If the plugin is already loaded it will unload the plugin and reload it. Pass an empty plugin_name to reload all plugins. More...

QString	PluginCommand (const QString &pluginName, const QString &pluginCommand, const QString &pluginValue="")
	Send a specific command to a RoboDK plugin. The command and value (optional) must be handled by your plugin. It returns the result as a string. More...

Item	Popup_ISO9283_CubeProgram (Item *robot=nullptr, tXYZ center=nullptr, double side=-1, bool blocking=true)
	Show the popup menu to create the ISO9283 path for position accuracy, repeatability and path accuracy performance testing. More...

bool	FileSet (const QString &file_local, const QString &file_remote="", bool load_file=true, Item *attach_to=nullptr)
	Send file from the current location to the RoboDK instance. More...

bool	FileGet (const QString &path_file_local, Item *station=nullptr, const QString path_file_remote="")
	Retrieve a file from the RoboDK running instance. More...

bool	EmbedWindow (QString window_name, QString docked_name="", int size_w=-1, int size_h=-1, quint64 pid=0, int area_add=1, int area_allowed=15, int timeout=500)

bool	EventsListen ()

bool	WaitForEvent (int &evt, Item &itm)

bool	Event_Receive_3D_POS (double data, int valueCount)

bool	Event_Receive_Mouse_data (int *data)

bool	Event_Receive_Event_Moved (Mat *pose_rel_out)

bool	Event_Connected ()

Private Member Functions
bool	_connected ()

bool	_connect ()

bool	_connect_smart ()

void	_disconnect ()

bool	_check_connection ()

bool	_check_status ()

bool	_waitline (QTcpSocket *com=nullptr)

QString	_recv_Line (QTcpSocket *com=nullptr)

bool	_send_Line (const QString &string, QTcpSocket *com=nullptr)

int	_recv_Int (QTcpSocket *com=nullptr)

bool	_send_Int (const qint32 value, QTcpSocket *com=nullptr)

Item	_recv_Item (QTcpSocket *com=nullptr)

bool	_send_Item (const Item *item)

bool	_send_Item (const Item &item)

Mat	_recv_Pose (QTcpSocket *com=nullptr)

bool	_send_Pose (const Mat &pose)

bool	_recv_XYZ (tXYZ pos)

bool	_send_XYZ (const tXYZ pos)

bool	_recv_Array (double values, int psize=nullptr, QTcpSocket *com=nullptr)

bool	_send_Array (const double *values, int nvalues)

bool	_recv_Array (tJoints *jnts)

bool	_send_Array (const tJoints *jnts)

bool	_send_Array (const Mat *mat)

bool	_recv_Matrix2D (tMatrix2D **mat)

bool	_send_Matrix2D (tMatrix2D *mat)

void	_moveX (const Item target, const tJoints joints, const Mat mat_target, const Item itemrobot, int movetype, bool blocking)

void	_moveC (const Item target1, const tJoints joints1, const Mat mat_target1, const Item target2, const tJoints joints2, const Mat mat_target2, const Item *itemrobot, bool blocking)

Private Attributes
QTcpSocket *	_COM

QTcpSocket *	_COM_EVT

QString	_IP

int	_PORT

int	_TIMEOUT

qint64	_PROCESS

QString	_ROBODK_BIN

QString	_ARGUMENTS

Friends
class	RoboDK_API::Item

Detailed Description

This class is the iterface to the RoboDK API. With the RoboDK API you can automate certain tasks and operate on items. Interactions with items in the station tree are made through Items (IItem). An item is an object in the RoboDK tree (it can be either a robot, an object, a tool, a frame, a program, ...).

Definition at line 762 of file robodk_api.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Tree item types.

Enumerator
ITEM_TYPE_ANY	Any item type.
ITEM_TYPE_STATION	Item of type station (RDK file).
ITEM_TYPE_ROBOT	Item of type robot (.robot file).
ITEM_TYPE_FRAME	Item of type reference frame.
ITEM_TYPE_TOOL	Item of type tool (.tool).
ITEM_TYPE_OBJECT	Item of type object (.stl, .step or .iges for example).
ITEM_TYPE_TARGET	Target item.
ITEM_TYPE_PROGRAM	Program item.
ITEM_TYPE_INSTRUCTION	Instruction.
ITEM_TYPE_PROGRAM_PYTHON	Python macro.
ITEM_TYPE_MACHINING	Robot machining project, curve follow, point follow or 3D printing project.
ITEM_TYPE_BALLBARVALIDATION	Ballbar validation project.
ITEM_TYPE_CALIBPROJECT	Robot calibration project.
ITEM_TYPE_VALID_ISO9283	Robot path accuracy validation project.

Definition at line 1325 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Instruction types.

Enumerator
INS_TYPE_INVALID	Invalid instruction.
INS_TYPE_MOVE	Linear or joint movement instruction.
INS_TYPE_MOVEC	Circular movement instruction.
INS_TYPE_CHANGESPEED	Set speed instruction.
INS_TYPE_CHANGEFRAME	Set reference frame instruction.
INS_TYPE_CHANGETOOL	Set the tool (TCP) instruction.
INS_TYPE_CHANGEROBOT	Set the robot instruction (obsolete).
INS_TYPE_PAUSE	Pause instruction.
INS_TYPE_EVENT	Simulation event instruction.
INS_TYPE_CODE	Program call or raw code output.
INS_TYPE_PRINT	Display message on the teach pendant.

Definition at line 1370 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Instruction program call type:

Enumerator
INSTRUCTION_CALL_PROGRAM	Instruction to call a program.
INSTRUCTION_INSERT_CODE	Instructio to insert raw code (this will not provoke a program call).
INSTRUCTION_START_THREAD	Instruction to start a parallel thread. Program execution will continue and also trigger a thread.
INSTRUCTION_COMMENT	Comment output.
INSTRUCTION_SHOW_MESSAGE	Instruction to pop up a message on the robot teach pendant.

Definition at line 1553 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Object selection features:

Enumerator
FEATURE_NONE	No selection.
FEATURE_SURFACE	Surface selection.
FEATURE_CURVE	Curve selection.
FEATURE_POINT	Point selection.

Definition at line 1571 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Spray gun simulation:

Enumerator
SPRAY_OFF	Activate the spray simulation.

Definition at line 1586 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Collision checking state.

Enumerator
COLLISION_OFF	Do not use collision checking.
COLLISION_ON	Use collision checking.

Definition at line 1593 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Definition at line 1602 of file robodk_api.h.

◆ anonymous enum

anonymous enum

RoboDK Window Flags.

Enumerator
FLAG_ROBODK_TREE_ACTIVE	Allow using the RoboDK station tree.
FLAG_ROBODK_3DVIEW_ACTIVE	Allow using the 3D navigation.
FLAG_ROBODK_LEFT_CLICK	Allow left clicks on the 3D navigation screen.
FLAG_ROBODK_RIGHT_CLICK	Allow right clicks on the 3D navigation screen.
FLAG_ROBODK_DOUBLE_CLICK	Allow double clicks on the 3D navigation screen.
FLAG_ROBODK_MENU_ACTIVE	Enable/display the menu bar.
FLAG_ROBODK_MENUFILE_ACTIVE	Enable the file menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_MENUEDIT_ACTIVE	Enable the edit menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_MENUPROGRAM_ACTIVE	Enable the program menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_MENUTOOLS_ACTIVE	Enable the tools menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_MENUUTILITIES_ACTIVE	Enable the utilities menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_MENUCONNECT_ACTIVE	Enable the connect menu (FLAG_ROBODK_MENU_ACTIVE must be allowed).
FLAG_ROBODK_WINDOWKEYS_ACTIVE	Allow using keyboard shortcuts.
FLAG_ROBODK_NONE	Disallow everything.
FLAG_ROBODK_ALL	Allow everything (default).
FLAG_ROBODK_MENU_ACTIVE_ALL	Allow using the full menu.

Definition at line 1618 of file robodk_api.h.

◆ anonymous enum

anonymous enum

RoboDK Item Flags.

Enumerator
FLAG_ITEM_SELECTABLE	Allow selecting RoboDK items.
FLAG_ITEM_EDITABLE	Allow modifying RoboDK items.
FLAG_ITEM_DRAGALLOWED	Allow draggin an item.
FLAG_ITEM_DROPALLOWED	Allow dropping to an item.
FLAG_ITEM_ENABLED	Enable the item.
FLAG_ITEM_AUTOTRISTATE	Allow having nested items, expand and collapse the item.
FLAG_ITEM_NOCHILDREN	Do not allow adding nested items.
FLAG_ITEM_NONE	Disallow everything.
FLAG_ITEM_ALL	Allow everything (default).

Definition at line 1669 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Movement types.

Enumerator
MOVE_TYPE_INVALID	Invalid robot movement.
MOVE_TYPE_JOINT	Joint axes movement (MoveJ).
MOVE_TYPE_LINEAR	Linear movement (MoveL).
MOVE_TYPE_CIRCULAR	Circular movement (MoveC).

Definition at line 1406 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Script execution types used by IRoboDK.setRunMode and IRoboDK.RunMode.

Enumerator
RUNMODE_SIMULATE	Performs the simulation moving the robot (default)
RUNMODE_QUICKVALIDATE	Performs a quick check to validate the robot movements.
RUNMODE_MAKE_ROBOTPROG	Makes the robot program.
RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD	Makes the robot program and updates it to the robot.
RUNMODE_MAKE_ROBOTPROG_AND_START	Makes the robot program and starts it on the robot (independently from the PC).
RUNMODE_RUN_ROBOT	Moves the real robot from the PC (PC is the client, the robot behaves like a server).

Definition at line 1421 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Program execution type.

Enumerator
PROGRAM_RUN_ON_SIMULATOR	Set the robot program to run on the simulator.
PROGRAM_RUN_ON_ROBOT	Set the robot program to run on the robot.

Definition at line 1442 of file robodk_api.h.

◆ anonymous enum

anonymous enum

TCP calibration types.

Enumerator
CALIBRATE_TCP_BY_POINT	Calibrate the TCP by poses touching the same point.
CALIBRATE_TCP_BY_PLANE	Calibrate the TCP by poses touching the same plane.

Definition at line 1451 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Reference frame calibration types.

Enumerator
CALIBRATE_FRAME_3P_P1_ON_X	Calibrate by 3 points: [X, X+, Y+] (p1 on X axis).
CALIBRATE_FRAME_3P_P1_ORIGIN	Calibrate by 3 points: [Origin, X+, XY+] (p1 is origin).
CALIBRATE_FRAME_6P	Calibrate by 6 points.
CALIBRATE_TURNTABLE	Calibrate turntable.

Definition at line 1461 of file robodk_api.h.

◆ anonymous enum

anonymous enum

projection types (for AddCurve)

Enumerator
PROJECTION_NONE	No curve projection.
PROJECTION_CLOSEST	The projection will the closest point on the surface.
PROJECTION_ALONG_NORMAL	The projection will be done along the normal.
PROJECTION_ALONG_NORMAL_RECALC	The projection will be done along the normal. Furthermore, the normal will be recalculated according to the surface normal.
PROJECTION_CLOSEST_RECALC	The projection will be the closest point on the surface and the normals will be recalculated.
PROJECTION_RECALC	The normals are recalculated according to the surface normal of the closest projection. The points are not changed.

Definition at line 1476 of file robodk_api.h.

◆ anonymous enum

anonymous enum

Euler type.

Enumerator
JOINT_FORMAT	joints.
EULER_RX_RYp_RZpp	Staubli, Mecademic.
EULER_RZ_RYp_RXpp	ABB RobotStudio.
EULER_RZ_RYp_RZpp	Kawasaki, Adept, Staubli.
EULER_RZ_RXp_RZpp	CATIA, SolidWorks.
EULER_RX_RY_RZ	Fanuc, Kuka, Motoman, Nachi.
EULER_RZ_RY_RX	CRS.
EULER_QUEATERNION	ABB Rapid.

Definition at line 1497 of file robodk_api.h.

◆ anonymous enum

anonymous enum

State of the RoboDK window.

Enumerator
WINDOWSTATE_HIDDEN	Hide the RoboDK window. RoboDK will keep running as a process.
WINDOWSTATE_SHOW	Display the RoboDK window.
WINDOWSTATE_MINIMIZED	Minimize the RoboDK window.
WINDOWSTATE_NORMAL	Display the RoboDK window in a normal state (not maximized)
WINDOWSTATE_MAXIMIZED	Maximize the RoboDK Window.
WINDOWSTATE_FULLSCREEN	Make the RoboDK window fullscreen.
WINDOWSTATE_CINEMA	Display RoboDK in cinema mode (hide the toolbar and the menu).
WINDOWSTATE_FULLSCREEN_CINEMA	Display RoboDK in cinema mode and fullscreen.

Definition at line 1525 of file robodk_api.h.

Constructor & Destructor Documentation

◆ RoboDK()

RoboDK	(	const QString &	robodk_ip = `""`,
		int	com_port = `-1`,
		const QString &	args = `""`,
		const QString &	path = `""`
	)

Definition at line 2102 of file robodk_api.cpp.

◆ ~RoboDK()

~RoboDK ( )

Definition at line 2122 of file robodk_api.cpp.

Member Function Documentation

◆ _check_connection()

bool _check_connection ( )

private

Definition at line 3413 of file robodk_api.cpp.

◆ _check_status()

bool _check_status ( )

private

Definition at line 3424 of file robodk_api.cpp.

◆ _connect()

bool _connect ( )

private

Definition at line 3499 of file robodk_api.cpp.

◆ _connect_smart()

bool _connect_smart ( )

private

Definition at line 3465 of file robodk_api.cpp.

◆ _connected()

bool _connected ( )

private

Definition at line 3408 of file robodk_api.cpp.

◆ _disconnect()

void _disconnect ( )

private

Definition at line 3457 of file robodk_api.cpp.

◆ _moveC()

void _moveC	(	const Item *	target1,
		const tJoints *	joints1,
		const Mat *	mat_target1,
		const Item *	target2,
		const tJoints *	joints2,
		const Mat *	mat_target2,
		const Item *	itemrobot,
		bool	blocking
	)

private

Definition at line 3854 of file robodk_api.cpp.

◆ _moveX()

void _moveX	(	const Item *	target,
		const tJoints *	joints,
		const Mat *	mat_target,
		const Item *	itemrobot,
		int	movetype,
		bool	blocking
	)

private

Definition at line 3827 of file robodk_api.cpp.

◆ _recv_Array() [1/2]

bool _recv_Array	(	double *	values,
		int *	psize = `nullptr`,
		QTcpSocket *	com = `nullptr`
	)

private

Definition at line 3732 of file robodk_api.cpp.

◆ _recv_Array() [2/2]

bool _recv_Array ( tJoints * jnts )

private

Definition at line 3711 of file robodk_api.cpp.

◆ _recv_Int()

int _recv_Int ( QTcpSocket * com = nullptr )

private

Definition at line 3580 of file robodk_api.cpp.

◆ _recv_Item()

Item _recv_Item ( QTcpSocket * com = nullptr )

private

Definition at line 3606 of file robodk_api.cpp.

◆ _recv_Line()

QString _recv_Line ( QTcpSocket * com = nullptr )

private

Definition at line 3554 of file robodk_api.cpp.

◆ _recv_Matrix2D()

bool _recv_Matrix2D ( tMatrix2D ** mat )

private

Definition at line 3774 of file robodk_api.cpp.

◆ _recv_Pose()

Mat _recv_Pose ( QTcpSocket * com = nullptr )

private

Definition at line 3639 of file robodk_api.cpp.

◆ _recv_XYZ()

bool _recv_XYZ ( tXYZ pos )

private

Definition at line 3680 of file robodk_api.cpp.

◆ _send_Array() [1/3]

bool _send_Array	(	const double *	values,
		int	nvalues
	)

private

Definition at line 3760 of file robodk_api.cpp.

◆ _send_Array() [2/3]

bool _send_Array ( const Mat * mat )

private

Definition at line 3720 of file robodk_api.cpp.

◆ _send_Array() [3/3]

bool _send_Array ( const tJoints * jnts )

private

Definition at line 3714 of file robodk_api.cpp.

◆ _send_Int()

bool _send_Int	(	const qint32	value,
		QTcpSocket *	com = `nullptr`
	)

private

Definition at line 3596 of file robodk_api.cpp.

◆ _send_Item() [1/2]

bool _send_Item ( const Item & item )

private

Definition at line 3635 of file robodk_api.cpp.

◆ _send_Item() [2/2]

bool _send_Item ( const Item * item )

private

Definition at line 3625 of file robodk_api.cpp.

◆ _send_Line()

bool _send_Line	(	const QString &	string,
		QTcpSocket *	com = `nullptr`
	)

private

Definition at line 3570 of file robodk_api.cpp.

◆ _send_Matrix2D()

bool _send_Matrix2D ( tMatrix2D * mat )

private

Definition at line 3807 of file robodk_api.cpp.

◆ _send_Pose()

bool _send_Pose ( const Mat & pose )

private

Definition at line 3666 of file robodk_api.cpp.

◆ _send_XYZ()

bool _send_XYZ ( const tXYZ pos )

private

Definition at line 3699 of file robodk_api.cpp.

◆ _waitline()

bool _waitline ( QTcpSocket * com = nullptr )

private

Definition at line 3542 of file robodk_api.cpp.

◆ AddCurve()

Item AddCurve	(	tMatrix2D *	curvePoints,
		Item *	referenceObject = `nullptr`,
		bool	addToRef = `false`,
		int	ProjectionType = `PROJECTION_ALONG_NORMAL_RECALC`
	)

Adds a curve provided point coordinates. The provided points must be a list of vertices. A vertex normal can be provided optionally.

Parameters

curve_points	matrix 3xN or 6xN -> N must be multiple of 3
reference_object	object to add the curve and/or project the curve to the surface
add_to_ref	If True, the curve will be added as part of the object in the RoboDK item tree (a reference object must be provided)
projection_type	Type of projection. For example: PROJECTION_ALONG_NORMAL_RECALC will project along the point normal and recalculate the normal vector on the surface projected.

Returns: added object/curve (null if failed)

Parameters

curvePoints	matrix 3xN or 6xN -> N must be multiple of 3
referenceObject	object to add the curve and/or project the curve to the surface
addToRef	If True, the curve will be added as part of the object in the RoboDK item tree (a reference object must be provided)
projectionType	Type of projection. For example: ProjectionType.AlongNormalRecalc will project along the point normal and recalculate the normal vector on the surface projected.

Returns: added object/curve (use item.Valid() to check if item is valid.)

Definition at line 2474 of file robodk_api.cpp.

◆ AddFile()

Item AddFile	(	const QString &	filename,
		const Item *	parent = `nullptr`
	)

Loads a file and attaches it to parent. It can be any file supported by RoboDK.

Loads a file and attaches it to parent. It can be any file supported by robodk.

Parameters

filename	Absolute path of the file.
parent	Parent to attach. Leave empty for new stations or to load an object at the station root.

Returns: Newly added object. Check with item.Valid() for a successful load.

Parameters

filename	absolute path of the file
parent	parent to attach. Leave empty for new stations or to load an object at the station root

Returns: Newly added object. Check with item.Valid() for a successful load

Definition at line 2401 of file robodk_api.cpp.

◆ AddFrame()

Item AddFrame	(	const QString &	name,
		Item *	itemparent = `nullptr`
	)

Adds a new Frame that can be referenced by a robot.

Parameters

name	Name of the reference frame.
itemparent	Parent to attach to (such as the robot base frame).

Returns: The new reference frame created.

Parameters

name	name of the reference frame
itemparent	parent to attach to (such as the robot base frame)

Returns: the new reference frame created

Definition at line 2569 of file robodk_api.cpp.

◆ AddMachiningProject()

Item AddMachiningProject	(	const QString &	name = `"Curve follow settings"`,
		Item *	itemrobot = `nullptr`
	)

Add a new robot machining project. Machining projects can also be used for 3D printing, following curves and following points. It returns the newly created Item containing the project settings. Tip: Use the macro /RoboDK/Library/Macros/MoveRobotThroughLine.py to see an example that creates a new "curve follow project" given a list of points to follow(Option 4).

Add a new robot machining project. Machining projects can also be used for 3D printing, following curves and following points. It returns the newly created :class:.IItem containing the project settings. Tip: Use the macro /RoboDK/Library/Macros/MoveRobotThroughLine.py to see an example that creates a new "curve follow project" given a list of points to follow(Option 4).

Parameters

name	Name of the project settings.
itemrobot	Robot to use for the project settings(optional). It is not required to specify the robot if only one robot or mechanism is available in the RoboDK station.

Returns

Parameters

name	Name of the project settings
itemrobot	Robot to use for the project settings(optional). It is not required to specify the robot if only one robot or mechanism is available in the RoboDK station.

Returns

Definition at line 2603 of file robodk_api.cpp.

◆ AddPoints()

Item AddPoints	(	tMatrix2D *	points,
		Item *	referenceObject = `nullptr`,
		bool	addToRef = `false`,
		int	ProjectionType = `PROJECTION_ALONG_NORMAL_RECALC`
	)

Adds a list of points to an object. The provided points must be a list of vertices. A vertex normal can be provided optionally.

Parameters

points	list of points as a matrix (3xN matrix, or 6xN to provide point normals as ijk vectors)
reference_object	item to attach the newly added geometry (optional)
add_to_ref	If True, the points will be added as part of the object in the RoboDK item tree (a reference object must be provided)
projection_type	Type of projection.Use the PROJECTION_* flags.

Returns: added object/shape (0 if failed)

Parameters

points	list of points as a matrix (3xN matrix, or 6xN to provide point normals as ijk vectors)
referenceObject	item to attach the newly added geometry (optional)
addToRef	If True, the points will be added as part of the object in the RoboDK item tree (a reference object must be provided)
projectionType	Type of projection.Use the PROJECTION_* flags.

Returns: added object/shape (0 if failed)

Definition at line 2495 of file robodk_api.cpp.

◆ AddProgram()

Item AddProgram	(	const QString &	name,
		Item *	itemrobot = `nullptr`
	)

Adds a new Frame that can be referenced by a robot.

Parameters

name	Name of the program.
itemrobot	Robot that will be used.

Returns: the new program created

Parameters

name	name of the program
itemparent	robot that will be used

Returns: the new program created

Definition at line 2585 of file robodk_api.cpp.

◆ AddShape()

Item AddShape	(	tMatrix2D *	trianglePoints,
		Item *	addTo = `nullptr`,
		bool	shapeOverride = `false`,
		Color *	color = `nullptr`
	)

Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices. A vertex normal can be provided optionally.

Parameters

trianglePoints	List of vertices grouped by triangles (3xN or 6xN matrix, N must be multiple of 3 because vertices must be stacked by groups of 3)
addTo	item to attach the newly added geometry (optional). Leave empty to create a new object.
shapeOverride	Set to true to replace any other existing geometry
color	Optionally specify the color as RGBA [0-1]

Returns: Added or modified item

Parameters

trianglePoints	List of vertices grouped by triangles (3xN or 6xN matrix, N must be multiple of 3 because vertices must be stacked by groups of 3)
addTo	item to attach the newly added geometry (optional). Leave empty to create a new object.
shapeOverride	Set to true to replace any other existing geometry
color	Color of the added shape

Returns: added object/shape (use item.Valid() to check if item is valid.)

Definition at line 2438 of file robodk_api.cpp.

◆ AddStation()

Item AddStation ( const QString & name )

Add a new empty station. It returns the station item added.

Add a new empty station.

Parameters

name	Name of the station (the title bar will be renamed to match the station name).

Parameters

name	Name of the station

Returns: Newly created station IItem

Definition at line 2523 of file robodk_api.cpp.

◆ AddTarget()

Item AddTarget	(	const QString &	name,
		Item *	itemparent = `nullptr`,
		Item *	itemrobot = `nullptr`
	)

Adds a new target that can be reached with a robot.

Parameters

name	Name of the target.
itemparent	Parent to attach to (such as a frame).
itemrobot	Main robot that will be used to go to self target.

Returns: the new target created

Parameters

name	name of the target
itemparent	parent to attach to (such as a frame)
itemrobot	main robot that will be used to go to self target

Returns: the new target created

Definition at line 2552 of file robodk_api.cpp.

◆ CalibrateReference()

Mat CalibrateReference	(	tMatrix2D *	poses_joints,
		int	method = `CALIBRATE_FRAME_3P_P1_ON_X`,
		bool	use_joints = `false`,
		Item *	robot = `nullptr`
	)

Calibrate a Reference Frame given a list of points or joint values. Important: If the robot is calibrated, provide joint values to maximize accuracy.

Parameters

joints	points as a 3xN matrix or nDOFsxN) - List of points or a list of robot joints.
method	type of algorithm(by point, plane, ...) CALIBRATE_FRAME_...
use_joints	use points or joint values. The robot item must be provided if joint values is used.
robot	Robot used for the identification (if using joint values).

Returns

Parameters

joints	points as a 3xN matrix or nDOFsxN) - List of points or a list of robot joints
method	type of algorithm(by point, plane, ...) CALIBRATE_FRAME_...
use_joints	use points or joint values. The robot item must be provided if joint values is used.
robot

Returns

Definition at line 3026 of file robodk_api.cpp.

◆ CalibrateTool()

void CalibrateTool	(	tMatrix2D *	poses_joints,
		tXYZ	tcp_xyz,
		int	format = `EULER_RX_RY_RZ`,
		int	algorithm = `CALIBRATE_TCP_BY_POINT`,
		Item *	robot = `nullptr`,
		double *	error_stats = `nullptr`
	)

Calibrate a tool (TCP) given a number of points or calibration joints. Important: If the robot is calibrated, provide joint values to maximize accuracy.

Parameters

poses_joints	matrix of poses in a given format or a list of joints
error_stats	stats[mean, standard deviation, max] - Output error stats summary.
format	Euler format. Optionally, use JOINT_FORMAT and provide the robot.
algorithm	type of algorithm (by point, plane, ...)
robot	Robot used for the identification (if using joint values).

Returns: TCP as [x, y, z] - calculated TCP

Parameters

poses_joints	matrix of poses in a given format or a list of joints
error_stats	stats[mean, standard deviation, max] - Output error stats summary
format	Euler format. Optionally, use JOINT_FORMAT and provide the robot.
algorithm	type of algorithm (by point, plane, ...)
robot	Robot used for calibration (if using joint values)

Returns: TCP as [x, y, z] - calculated TCP

Definition at line 2997 of file robodk_api.cpp.

◆ Cam2D_Add()

Item Cam2D_Add	(	const Item &	item_object,
		const QString &	cam_params,
		const Item *	cam_item = `nullptr`
	)

Add a simulated 2D or depth camera as an item. Use Delete to delete it.

Parameters

item_object	Reference or object to attach the camera
cam_params	Camera settings as described here: https://robodk.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Cam2D_Add
cam_item	Provide an existing camera item to modify it

Returns: Camera item

Definition at line 3106 of file robodk_api.cpp.

◆ Cam2D_SetParams()

int Cam2D_SetParams	(	const QString &	cam_params,
		const Item &	cam_item
	)

Set the camera parameters.

Parameters

cam_params	Camera parameters: The same parameters that can be set using Cam2D_Add()
cam_item	Camera item

Returns: Returns 1 if success, 0 otherwise

Definition at line 3129 of file robodk_api.cpp.

◆ Cam2D_Snapshot()

int Cam2D_Snapshot	(	const QString &	file_save_img,
		const Item &	cam_item,
		const QString &	params = `""`
	)

Take a snapshot of a simulated camera and save it as an image.

Parameters

file_save_img	file path to save. Formats supported include PNG, JPEG, TIFF, ...
cam_item	Camera item
params	additional options (use, "Grayscale", "Depth" or "Color" to modify the output of a camera snapshot)

Returns: Returns 1 if success, 0 otherwise

Definition at line 3116 of file robodk_api.cpp.

◆ CloseRoboDK()

void CloseRoboDK ( )

Closes RoboDK window and finishes RoboDK execution

Definition at line 2274 of file robodk_api.cpp.

◆ CloseStation()

void CloseStation ( )

Close the current station without asking to save.

Closes the current station without suggesting to save

Definition at line 2539 of file robodk_api.cpp.

◆ Collision()

int Collision	(	Item	item1,
		Item	item2
	)

Returns 1 if item1 and item2 collided. Otherwise returns 0.

Parameters

item1
item2

Returns: 0 if no collisions are found.

Parameters

item1
item2

Returns

Definition at line 2789 of file robodk_api.cpp.

◆ CollisionLine()

bool CollisionLine	(	tXYZ	p1,
		tXYZ	p2
	)

Checks the collision between a line and any objects in the station. The line is composed by 2 points. Returns the collided item. Use Item.Valid() to check if there was a valid collision.

Parameters

p1	Start point of the line (absolute coordinates).
p2	End point of the line (absolute coordinates).
xyz_collision	Collided point.

Returns: True if collision found.

◆ Collisions()

int Collisions ( )

Returns the number of pairs of objects that are currently in a collision state.

Returns: 0 if no collisions are found.

Returns

Definition at line 2775 of file robodk_api.cpp.

◆ Command()

QString Command	(	const QString &	cmd,
		const QString &	value = `""`
	)

Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events.

Parameters

cmd	Command Name, such as Trace, Threads or Window.
value	Comand value (optional, not all commands require a value)

Returns: Command result.

Parameters

cmd	Command Name, such as Trace, Threads or Window.
value	Comand value (optional, not all commands require a value)

Returns

Definition at line 2938 of file robodk_api.cpp.

◆ Connect()

bool Connect ( )

Definition at line 2145 of file robodk_api.cpp.

◆ Connected()

bool Connected ( )

Definition at line 2141 of file robodk_api.cpp.

◆ Copy()

void Copy ( const Item & tocopy )

Makes a copy of an item (same as Ctrl+C), which can be pasted (Ctrl+V) using Paste().

Parameters

tocopy Item to copy

Definition at line 2374 of file robodk_api.cpp.

◆ Disconnect()

void Disconnect ( )

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

Returns

Definition at line 2152 of file robodk_api.cpp.

◆ EmbedWindow()

bool EmbedWindow	(	QString	window_name,
		QString	docked_name = `""`,
		int	size_w = `-1`,
		int	size_h = `-1`,
		quint64	pid = `0`,
		int	area_add = `1`,
		int	area_allowed = `15`,
		int	timeout = `500`
	)

Definition at line 3319 of file robodk_api.cpp.

◆ Event_Connected()

bool Event_Connected ( )

Definition at line 3401 of file robodk_api.cpp.

◆ Event_Receive_3D_POS()

bool Event_Receive_3D_POS	(	double *	data,
		int *	valueCount
	)

Definition at line 3375 of file robodk_api.cpp.

◆ Event_Receive_Event_Moved()

bool Event_Receive_Event_Moved ( Mat * pose_rel_out )

Definition at line 3388 of file robodk_api.cpp.

◆ Event_Receive_Mouse_data()

bool Event_Receive_Mouse_data ( int * data )

Definition at line 3380 of file robodk_api.cpp.

◆ EventsListen()

bool EventsListen ( )

Definition at line 3341 of file robodk_api.cpp.

◆ FileGet()

bool FileGet	(	const QString &	path_file_local,
		Item *	station = `nullptr`,
		const QString	path_file_remote = `""`
	)

Retrieve a file from the RoboDK running instance.

Definition at line 3296 of file robodk_api.cpp.

◆ FileSet()

bool FileSet	(	const QString &	file_local,
		const QString &	file_remote = `""`,
		bool	load_file = `true`,
		Item *	attach_to = `nullptr`
	)

Send file from the current location to the RoboDK instance.

Definition at line 3269 of file robodk_api.cpp.

◆ Finish()

void Finish ( )

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

Returns

Definition at line 2159 of file robodk_api.cpp.

◆ getActiveStation()

Item getActiveStation ( )

Returns the active station item (station currently visible).

Returns the active station item (station currently visible)

Returns

Definition at line 2635 of file robodk_api.cpp.

◆ getCollisionItems()

QList< Item > getCollisionItems ( QList< int > link_id_list )

Return the list of items that are in a collision state. This function can be used after calling Collisions() to retrieve the items that are in a collision state.

Parameters

link_id_list List of robot link IDs that are in collision (0 for objects and tools).

Returns: List of items that are in a collision state.

Definition at line 2799 of file robodk_api.cpp.

◆ getCursorXYZ()

Item getCursorXYZ	(	int	x = `-1`,
		int	y = `-1`,
		tXYZ	xyzStation = `nullptr`
	)

Returns the position of the cursor as XYZ coordinates (by default), or the 3D position of a given set of 2D coordinates of the window (x & y coordinates in pixels from the top left corner) The XYZ coordinates returned are given with respect to the RoboDK station(absolute reference). If no coordinates are provided, the current position of the cursor is retrieved.

Parameters

x	X coordinate in pixels
y	Y coordinate in pixels
xyzStation

Returns: Item under the mouse cursor.

Definition at line 3139 of file robodk_api.cpp.

◆ getFlagsItem()

int getFlagsItem ( Item item )

Retrieve current item flags. Item flags allow defining how much access the user has to item-specific features. Use FLAG_ITEM_* flags to set one or more flags.

Parameters

item

Returns

Definition at line 2337 of file robodk_api.cpp.

◆ getItem()

Item getItem	(	QString	name,
		int	itemtype = `-1`
	)

Returns an item by its name. If there is no exact match it will return the last closest match.

Parameters

name	Item name
itemtype	Filter by item type RoboDK.ITEM_TYPE_...

Returns: Item or nullptr if no item was found

Parameters

name	Item name
type	Filter by item type RoboDK.ITEM_TYPE_...

Returns

Definition at line 2171 of file robodk_api.cpp.

◆ getItemList()

QList< Item > getItemList ( int filter = -1 )

Returns a list of items (list of names or pointers) of all available items in the currently open station in RoboDK. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_CASE_ROBOT))

Returns a list of items (list of name or pointers) of all available items in the currently open station in robodk. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_CASE_ROBOT))

Parameters

filter ITEM_TYPE

Returns: List of items with a match

Parameters

filter ITEM_TYPE

Returns

Definition at line 2215 of file robodk_api.cpp.

◆ getItemListNames()

QStringList getItemListNames ( int filter = -1 )

Returns a list of items (list of names or Items) of all available items in the currently open station in RoboDK. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_TYPE_ROBOT))

Returns a list of items (list of name or pointers) of all available items in the currently open station in robodk. Optionally, use a filter to return specific items (example: getItemListNames(filter = ITEM_CASE_ROBOT))

Parameters

filter ITEM_TYPE_...

Returns: List of item names

Parameters

filter ITEM_TYPE

Returns

Definition at line 2192 of file robodk_api.cpp.

◆ getOpenStation()

QList< Item > getOpenStation ( )

Returns the list of open stations in RoboDK.

Returns

Definition at line 2616 of file robodk_api.cpp.

◆ getParam()

QString getParam ( const QString & param )

Gets a global or a user parameter from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" Some available parameters: PATH_OPENSTATION = folder path of the current .stn file FILE_OPENSTATION = file path of the current .stn file PATH_DESKTOP = folder path of the user's folder Other parameters can be added or modified by the user

Parameters

param RoboDK parameter

Returns: Parameter value.

Parameters

param RoboDK parameter

Returns: value

Definition at line 2905 of file robodk_api.cpp.

◆ getParams()

QList< QPair< QString, QString > > getParams ( )

Gets all the user parameters from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" User parameters can be added or modified by the user

Returns: List of pairs of strings as parameter-value (list of a list)

Returns: list of pairs of strings as parameter-value (list of a list)

Definition at line 2880 of file robodk_api.cpp.

◆ HideRoboDK()

void HideRoboDK ( )

Hides the RoboDK window. RoboDK will continue running in the background.

Hides the RoboDK window

Definition at line 2265 of file robodk_api.cpp.

◆ IsInside()

bool IsInside	(	Item	object_inside,
		Item	object_parent
	)

Check if an object is fully inside another one.

Returns (1/True) if object_inside is inside the object_parent

Parameters

object_inside
object_parent

Returns: Returns true if object_inside is inside the object_parent

Parameters

object_inside
object_parent

Returns

Definition at line 2724 of file robodk_api.cpp.

◆ ItemUserPick()

Item ItemUserPick	(	const QString &	message = `"Pick one item"`,
		int	itemtype = `-1`
	)

Shows a RoboDK popup to select one object from the open RoboDK station. An item type can be specified to filter desired items. If no type is specified, all items are selectable.

Shows a RoboDK popup to select one object from the open station. An item type can be specified to filter desired items. If no type is specified, all items are selectable.

Parameters

message	Message to show in the pop up
itemtype	optionally filter by RoboDK.ITEM_TYPE_*

Returns: Picked item or nullptr if the user selected Cancel

Parameters

message	Message to pop up
itemtype	optionally filter by RoboDK.ITEM_TYPE_*

Returns

Definition at line 2241 of file robodk_api.cpp.

◆ LaserTrackerMeasure()

bool LaserTrackerMeasure	(	tXYZ	xyz,
		tXYZ	estimate,
		bool	search = `false`
	)

Takes a laser tracker measurement with respect to its own reference frame. If an estimate point is provided, the laser tracker will first move to those coordinates. If search is True, the tracker will search for a target.

Parameters

xyz
estimate
search	True to search near the estimated value.

Returns: True if successful.

Definition at line 2948 of file robodk_api.cpp.

◆ License()

QString License ( )

Returns the license as a readable string (same name shown in the RoboDK's title bar, on top of the main menu).

-------------------------------— add get/set robot parameters

Returns

Returns the license string (as shown in the RoboDK main window)

Returns

Definition at line 3166 of file robodk_api.cpp.

◆ Paste()

Item Paste ( const Item * paste_to = nullptr )

Paste the copied item as a dependency of another item (same as Ctrl+V). Paste should be used after Copy(). It returns the newly created item.

Parameters

paste_to Item to attach the copied item (optional)

Returns: New item created

Definition at line 2386 of file robodk_api.cpp.

◆ PluginCommand()

QString PluginCommand	(	const QString &	pluginName,
		const QString &	pluginCommand,
		const QString &	pluginValue = `""`
	)

Send a specific command to a RoboDK plugin. The command and value (optional) must be handled by your plugin. It returns the result as a string.

Definition at line 3219 of file robodk_api.cpp.

◆ PluginLoad()

void PluginLoad	(	const QString &	pluginName,
		int	load = `1`
	)

Load or unload the specified plugin (path to DLL, dylib or SO file). If the plugin is already loaded it will unload the plugin and reload it. Pass an empty plugin_name to reload all plugins.

Definition at line 3208 of file robodk_api.cpp.

◆ Popup_ISO9283_CubeProgram()

Item Popup_ISO9283_CubeProgram	(	Item *	robot = `nullptr`,
		tXYZ	center = `nullptr`,
		double	side = `-1`,
		bool	blocking = `true`
	)

Show the popup menu to create the ISO9283 path for position accuracy, repeatability and path accuracy performance testing.

Show the popup menu to create the ISO9283 path for path accuracy and performance testing

Parameters

robot
center	XYZ position of the center of the cube with respect to the robot base, in mm.
side	Cube side, in mm.

Returns: IS9283 Program or nullptr if the user cancelled.

Returns: IS9283 Program

Definition at line 3235 of file robodk_api.cpp.

◆ ProcessID()

quint64 ProcessID ( )

Definition at line 2126 of file robodk_api.cpp.

◆ ProgramStart()

int ProgramStart	(	const QString &	progname,
		const QString &	defaultfolder = `""`,
		const QString &	postprocessor = `""`,
		Item *	robot = `nullptr`
	)

Defines the name of the program when the program is generated. It is also possible to specify the name of the post processor as well as the folder to save the program. This method must be called before any program output is generated (before any robot movement or other instruction).

Parameters

progname	Name of the program.
defaultfolder	Folder to save the program, leave empty to use the default program folder.
postprocessor	Name of the post processor (for a post processor in C:/RoboDK/Posts/Fanuc_post.py it is possible to provide "Fanuc_post.py" or simply "Fanuc_post").
robot	Robot to link.

Returns

Definition at line 3041 of file robodk_api.cpp.

◆ ProjectPoints()

void ProjectPoints	(	tMatrix2D *	points,
		tMatrix2D **	projected,
		Item	objectProject,
		int	ProjectionType = `PROJECTION_ALONG_NORMAL_RECALC`
	)

Projects a point given its coordinates. The provided points must be a list of [XYZ] coordinates. Optionally, a vertex normal can be provided [XYZijk].

Parameters

points	Matrix 3xN or 6xN: list of points to project.
projected	Projected points as a null/empty matrix. A new matrix will be created
object_project	Object to project.
projection_type	Type of projection. For example: PROJECTION_ALONG_NORMAL_RECALC will project along the point normal and recalculate the normal vector on the surface projected.

Definition at line 2507 of file robodk_api.cpp.

◆ Render()

void Render ( bool always_render = false )

Update the scene.

Renders the scene. This function turns off rendering unless always_render is set to true.

Parameters

flags Set to RenderComplete for a full update or RenderScreen to redraw the scene without internally updating dependencies.

Parameters

always_render

Definition at line 2698 of file robodk_api.cpp.

◆ RunCode()

int RunCode	(	const QString &	code,
		bool	code_is_fcn_call = `false`
	)

Adds code to run in the program output. If the program exists it will also run the program in simulation mode.

Adds code to run in the program output. If the program exists it will also run the program in simulate mode.

Parameters

code
code_is_fcn_call

Returns

Definition at line 2671 of file robodk_api.cpp.

◆ RunMessage()

void RunMessage	(	const QString &	message,
		bool	message_is_comment = `false`
	)

Shows a message or a comment in the output robot program.

Parameters

message
message_is_comment

Definition at line 2686 of file robodk_api.cpp.

◆ RunMode()

int RunMode ( )

Returns the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instructions (run_mode=1).

Returns the behavior of the RoboDK API. By default, robodk shows the path simulation for movement instructions (run_mode=1)

Returns: int = RUNMODE RUNMODE_SIMULATE=1 performs the simulation moving the robot (default) RUNMODE_QUICKVALIDATE=2 performs a quick check to validate the robot movements RUNMODE_MAKE_ROBOTPROG=3 makes the robot program RUNMODE_RUN_REAL=4 moves the real robot is it is connected

Definition at line 2867 of file robodk_api.cpp.

◆ RunProgram()

int RunProgram ( const QString & function_w_params )

Adds a function call in the program output. RoboDK will handle the syntax when the code is generated for a specific robot. If the program exists it will also run the program in simulate mode.

Parameters

function_w_params Function name with parameters (if any).

Returns

Parameters

function_w_params Function name with parameters (if any)

Returns

Definition at line 2661 of file robodk_api.cpp.

◆ Save()

void Save	(	const QString &	filename,
		const Item *	itemsave = `nullptr`
	)

Save an item to a file. If no item is provided, the open station is saved.

Parameters

filename	Absolute path to save the file
itemsave	Object or station to save. Leave empty to automatically save the current station.

Parameters

filename	absolute path to save the file
itemsave	object or station to save. Leave empty to automatically save the current station.

Definition at line 2418 of file robodk_api.cpp.

◆ Selection()

QList< Item > Selection ( )

Returns the list of items selected (it can be one or more items).

Returns the list of items selected (it can be one or more items)

Returns: List of selected items.

Returns

Definition at line 3178 of file robodk_api.cpp.

◆ setActiveStation()

void setActiveStation ( Item station )

Set the active station (project currently visible).

Set the active station (project currently visible)

Parameters

station station item, it can be previously loaded as an RDK file.

Parameters

station station item, it can be previously loaded as an RDK file

Definition at line 2647 of file robodk_api.cpp.

◆ setCollisionActive()

int setCollisionActive ( int check_state = COLLISION_ON )

Turn collision checking ON or OFF (COLLISION_OFF/COLLISION_OFF) according to the collision map. If collision checking is activated it returns the number of pairs of objects that are currently in a collision state.

Set collision checking ON or OFF (COLLISION_OFF/COLLISION_OFF) according to the collision map. If collision check is activated it returns the number of pairs of objects that are currently in a collision state.

Parameters

check_state

Returns: Number of pairs of objects in a collision state (0 if no collisions).

Parameters

check_state

Returns: Number of pairs of objects in a collision state

Definition at line 2739 of file robodk_api.cpp.

◆ setCollisionActivePair()

bool setCollisionActivePair	(	int	check_state,
		Item	item1,
		Item	item2,
		int	id1 = `0`,
		int	id2 = `0`
	)

Set collision checking ON or OFF (COLLISION_ON/COLLISION_OFF) for a specific pair of objects. This allows altering the collision map for Collision checking. Specify the link id for robots or moving mechanisms (id 0 is the base).

Parameters

check_state	Set to COLLISION_ON or COLLISION_OFF
item1	Item 1
item2	Item 2
id1	Joint id for Item 1 (if Item 1 is a robot or a mechanism)
id2	Joint id for Item 2 (if Item 2 is a robot or a mechanism)

Returns: Returns true if succeeded. Returns false if setting the pair failed (wrong id was provided)

Definition at line 2758 of file robodk_api.cpp.

◆ setFlagsItem()

void setFlagsItem	(	Item	item,
		int	flags = `FLAG_ITEM_ALL`
	)

Update item flags. Item flags allow defining how much access the user has to item-specific features. Use FLAG_ITEM_* flags to set one or more flags.

Parameters

item
flags	New flags

Parameters

item
flags

Definition at line 2324 of file robodk_api.cpp.

◆ setFlagsRoboDK()

void setFlagsRoboDK ( int flags = FLAG_ROBODK_ALL )

Update the RoboDK flags. RoboDK flags allow defining how much access the user has to certain RoboDK features. Use FLAG_ROBODK_* variables to set one or more flags.

Update the RoboDK flags. RoboDK flags allow defining how much access the user has to RoboDK features. Use FLAG_ROBODK_* variables to set one or more flags.

Parameters

flags state of the window(FLAG_ROBODK_*)

Definition at line 2312 of file robodk_api.cpp.

◆ setParam()

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

Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified. If not, it will be added to the station. The parameters can also be modified by right clicking the station and selecting "shared parameters".

Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified. If not, it will be added to the station. The parameters can also be modified by right clicking the station and selecting "shared parameters"

Parameters

param	RoboDK parameter
value	value

Returns

Definition at line 2924 of file robodk_api.cpp.

◆ setRobotParams()

bool setRobotParams	(	Item *	robot,
		tMatrix2D	dhm,
		Mat	poseBase,
		Mat	poseTool
	)

Set the nominal robot parameters.

Parameters

robot
dhm	D-H Modified table (Denavit Hartenberg Modified)
poseBase
poseTool

Returns

◆ setRunMode()

void setRunMode ( int run_mode = 1 )

Sets the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instructions (run_mode=1=RUNMODE_SIMULATE). Setting the run_mode to RUNMODE_QUICKVALIDATE allows performing a quick check to see if the path is feasible. if robot.Connect() is used, RUNMODE_RUN_FROM_PC is selected automatically.

Sets the behavior of the RoboDK API. By default, robodk shows the path simulation for movement instructions (run_mode=1=RUNMODE_SIMULATE). Setting the run_mode to RUNMODE_QUICKVALIDATE allows performing a quick check to see if the path is feasible. if robot.Connect() is used, RUNMODE_RUN_FROM_PC is selected automatically.

Parameters

run_mode int = RUNMODE RUNMODE_SIMULATE=1 performs the simulation moving the robot (default) RUNMODE_QUICKVALIDATE=2 performs a quick check to validate the robot movements RUNMODE_MAKE_ROBOTPROG=3 makes the robot program RUNMODE_RUN_REAL=4 moves the real robot is it is connected

Definition at line 2852 of file robodk_api.cpp.

◆ setSelection()

void setSelection ( QList< Item > list_items )

Sets the selection in the tree (it can be one or more items).

Returns: List of items to set as selected

Definition at line 3194 of file robodk_api.cpp.

◆ setSimulationSpeed()

void setSimulationSpeed ( double speed )

Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed allowed is 0.001 times the real speed. Set to a high value (>100) for fast simulation results.

Parameters

speed Simulation speed ratio (1 means real time simulation)

Parameters

speed

Definition at line 2824 of file robodk_api.cpp.

◆ setViewPose()

void setViewPose ( const Mat & pose )

Set the pose of the wold reference frame with respect to the user view (camera/screen).

Set the pose of the wold reference frame with respect to the view (camera/screen)

Parameters

pose	View pose.

Parameters

pose

Definition at line 3057 of file robodk_api.cpp.

◆ setWindowState()

void setWindowState ( int windowstate = WINDOWSTATE_NORMAL )

Set the state of the RoboDK window

Parameters

windowstate

Definition at line 2300 of file robodk_api.cpp.

◆ ShowAsCollided()

void ShowAsCollided	(	QList< Item >	itemList,
		QList< bool >	collidedList,
		QList< int > *	robot_link_id = `nullptr`
	)

Show a list of items as collided.

Definition at line 2963 of file robodk_api.cpp.

◆ ShowMessage()

void ShowMessage	(	const QString &	message,
		bool	popup = `true`
	)

Show a message in RoboDK (it can be blocking or non blocking in the status bar)

Parameters

message	Message to display
popup	Set to true to make the message blocking or set to false to make it non blocking

Definition at line 2351 of file robodk_api.cpp.

◆ ShowRoboDK()

void ShowRoboDK ( )

Shows or raises the RoboDK window.

Shows or raises the RoboDK window

Definition at line 2256 of file robodk_api.cpp.

◆ SimulationSpeed()

double SimulationSpeed ( )

Gets the current simulation speed. Set the speed to 1 for a real-time simulation.

Returns: Simulation speed ratio (1 means real time simulation)

Returns

Definition at line 2835 of file robodk_api.cpp.

◆ Update()

void Update ( )

Update the screen. This updates the position of all robots and internal links according to previously set values.

Definition at line 2710 of file robodk_api.cpp.

◆ Version()

QString Version ( )

Return the vesion of RoboDK as a 4 digit string: Major.Minor.Revision.Build

Definition at line 2282 of file robodk_api.cpp.

◆ ViewPose()

Mat ViewPose ( )

Get the pose of the wold reference frame with respect to the user view (camera/screen).

Get the pose of the wold reference frame with respect to the view (camera/screen)

Returns: View pose.

Parameters

pose

Definition at line 3068 of file robodk_api.cpp.

◆ WaitForEvent()

bool WaitForEvent	(	int &	evt,
		Item &	itm
	)

Definition at line 3367 of file robodk_api.cpp.

◆ WindowID()

quint64 WindowID ( )

Definition at line 2134 of file robodk_api.cpp.

Friends And Related Function Documentation

◆ RoboDK_API::Item

friend class RoboDK_API::Item

friend

Definition at line 763 of file robodk_api.h.

Member Data Documentation

◆ _ARGUMENTS

QString _ARGUMENTS

private

Definition at line 1708 of file robodk_api.h.

◆ _COM

QTcpSocket* _COM

private

Definition at line 1700 of file robodk_api.h.

◆ _COM_EVT

QTcpSocket* _COM_EVT

private

Definition at line 1701 of file robodk_api.h.

◆ _IP

QString _IP

private

Definition at line 1702 of file robodk_api.h.

◆ _PORT

int _PORT

private

Definition at line 1703 of file robodk_api.h.

◆ _PROCESS

qint64 _PROCESS

private

Definition at line 1705 of file robodk_api.h.

◆ _ROBODK_BIN

QString _ROBODK_BIN

private

Definition at line 1707 of file robodk_api.h.

◆ _TIMEOUT

int _TIMEOUT

private

Definition at line 1704 of file robodk_api.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ RoboDK()

◆ ~RoboDK()

Member Function Documentation

◆ _check_connection()

◆ _check_status()

◆ _connect()

◆ _connect_smart()

◆ _connected()

◆ _disconnect()

◆ _moveC()

◆ _moveX()

◆ _recv_Array() [1/2]

◆ _recv_Array() [2/2]

◆ _recv_Int()

◆ _recv_Item()

◆ _recv_Line()

◆ _recv_Matrix2D()

◆ _recv_Pose()

◆ _recv_XYZ()

◆ _send_Array() [1/3]

◆ _send_Array() [2/3]

◆ _send_Array() [3/3]

◆ _send_Int()

◆ _send_Item() [1/2]

◆ _send_Item() [2/2]

◆ _send_Line()

◆ _send_Matrix2D()

◆ _send_Pose()

◆ _send_XYZ()

◆ _waitline()

◆ AddCurve()

◆ AddFile()

◆ AddFrame()

◆ AddMachiningProject()

◆ AddPoints()

◆ AddProgram()

◆ AddShape()

◆ AddStation()

◆ AddTarget()

◆ CalibrateReference()

◆ CalibrateTool()

◆ Cam2D_Add()

◆ Cam2D_SetParams()

◆ Cam2D_Snapshot()

◆ CloseRoboDK()

◆ CloseStation()

◆ Collision()

◆ CollisionLine()

◆ Collisions()

◆ Command()

◆ Connect()

◆ Connected()

◆ Copy()

◆ Disconnect()

◆ EmbedWindow()