All RoboDK API functions are wrapped in the RoboDK_API namespace. If you prefer to forget about the RoboDK_API you can define RDK_SKIP_NAMESPACE (add the define: RDK_SKIP_NAMESPACE) More...

Classes
struct	Color
	The Color struct represents an RGBA color (each color component should be in the range [0-1]) More...

class	Item
	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...

class	Mat
	The Mat class represents a 4x4 pose matrix. The main purpose of this object is to represent a pose in the 3D space (position and orientation). In other words, a pose is a 4x4 matrix that represents the position and orientation of one reference frame with respect to another one, in the 3D space. Poses are commonly used in robotics to place objects, reference frames and targets with respect to each other. \( transl(x,y,z) rotx(r) roty(p) rotz(w) = \\ \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \). More...

class	RoboDK
	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...

class	tJoints
	The tJoints class represents a joint position of a robot (robot axes). More...

struct	tMatrix2D
	The tMatrix2D struct represents a variable size 2d Matrix. Use the Matrix2D_... functions to oeprate on this variable sized matrix. This type of data can be used to get/set a program as a list. This is also useful for backwards compatibility functions related to RoKiSim. More...

Typedefs
typedef double	tXYZWPR[6]
	Six doubles that represent robot joints (usually in degrees) More...

typedef double	tXYZ[3]
	tXYZ (mm) represents a position or a vector in mm More...

typedef double	tConfig[RDK_SIZE_MAX_CONFIG]
	The robot configuration defines a specific state of the robot without crossing any singularities. Changing the configuration requires crossing a singularity. There are 2x2x2=8 different configurations. A robot configurations is also known by "Assembly mode" The robot configuration is defined as an array of 3 doubles: [FACING REAR, LOWER ARM, WRIST FLIP]. FACING REAR=0 means FACING FRONT LOWER ARM=0 means ELBOW UP WRIST FLIP=0 means WRIST NON FLIP the 4th value is reserved. More...

Functions
Mat	transl (double x, double y, double z)
	Translation matrix class: Mat::transl. More...

Mat	rotx (double rx)
	Translation matrix class: Mat::rotx. More...

Mat	roty (double ry)
	Translation matrix class: Mat::roty. More...

Mat	rotz (double rz)
	Translation matrix class: Mat::rotz. More...

void	emxInit_real_T (tMatrix2D **pEmxArray, int numDimensions)

tMatrix2D *	Matrix2D_Create ()
	Creates a new 2D matrix tMatrix2D.. Use Matrix2D_Delete to delete the matrix (to free the memory). The Procedure Debug_Matrix2D shows an example to read data from a tMatrix2D. More...

void	emxFree_real_T (tMatrix2D **pEmxArray)

void	Matrix2D_Delete (tMatrix2D **mat)
	Deletes a tMatrix2D. More...

void	emxEnsureCapacity (tMatrix2D *emxArray, int oldNumel, unsigned int elementSize)

void	Matrix2D_Set_Size (tMatrix2D *mat, int rows, int cols)
	Sets the size of a tMatrix2D. More...

int	Matrix2D_Size (const tMatrix2D *mat, int dim)
	Sets the size of a tMatrix2D. More...

int	Matrix2D_Get_ncols (const tMatrix2D *var)
	Returns the number of columns of a tMatrix2D. More...

int	Matrix2D_Get_nrows (const tMatrix2D *var)
	Returns the number of rows of a tMatrix2D. More...

double	Matrix2D_Get_ij (const tMatrix2D *var, int i, int j)
	Returns the value at location [i,j] of a tMatrix2D. More...

void	Matrix2D_SET_ij (const tMatrix2D *var, int i, int j, double value)

double *	Matrix2D_Get_col (const tMatrix2D *var, int col)
	Returns the pointer of a column of a tMatrix2D. A column has Matrix2D_Get_nrows values that can be accessed/modified from the returned pointer continuously. More...

void	Matrix2D_Add (tMatrix2D var, const double array, int numel)

void	Matrix2D_Add (tMatrix2D var, const tMatrix2D varadd)

void	Debug_Array (const double *array, int arraysize)
	Show an array through STDOUT Given an array of doubles, it generates a string. More...

void	Debug_Matrix2D (const tMatrix2D *mat)
	Display the content of a tMatrix2D through STDOUT. This is only intended for debug purposes. More...

QDebug	operator<< (QDebug dbg, const Mat &m)
	Displays the content of a Mat through STDOUT. This is only intended for debug purposes. More...

QDebug	operator<< (QDebug dbg, const tJoints &jnts)

QDebug	operator<< (QDebug dbg, const Item &itm)

QDebug	operator<< (QDebug dbg, const Mat *m)

QDebug	operator<< (QDebug dbg, const tJoints *jnts)

QDebug	operator<< (QDebug dbg, const Item *itm)

Detailed Description

All RoboDK API functions are wrapped in the RoboDK_API namespace. If you prefer to forget about the RoboDK_API you can define RDK_SKIP_NAMESPACE (add the define: RDK_SKIP_NAMESPACE)

Typedef Documentation

◆ tConfig

typedef double tConfig[RDK_SIZE_MAX_CONFIG]

The robot configuration defines a specific state of the robot without crossing any singularities. Changing the configuration requires crossing a singularity. There are 2x2x2=8 different configurations. A robot configurations is also known by "Assembly mode" The robot configuration is defined as an array of 3 doubles: [FACING REAR, LOWER ARM, WRIST FLIP]. FACING REAR=0 means FACING FRONT LOWER ARM=0 means ELBOW UP WRIST FLIP=0 means WRIST NON FLIP the 4th value is reserved.

Definition at line 310 of file robodk_api.h.

◆ tXYZ

typedef double tXYZ[3]

tXYZ (mm) represents a position or a vector in mm

Definition at line 299 of file robodk_api.h.

◆ tXYZWPR

typedef double tXYZWPR[6]

Six doubles that represent robot joints (usually in degrees)

tXYZWPR (mm, rad) holds the same information as a tMatrix4x4 pose but represented as XYZ position (in mm) and WPR orientation (in rad) (XYZWPR = [X,Y,Z,W,P,R]) This type of variable is easier to read and it is what most robot controllers use to input a pose. However, for internal calculations it is better to use a 4x4 pose matrix as it is faster and more accurate. To calculate a 4x4 matrix: pose4x4 = transl(X,Y,Z)*rotx(W)*roty(P)*rotz(R) See POSE_2_XYZWPR and XYZWPR_2_POSE to exchange between tMatrix4x4 and tXYZWPR

Definition at line 296 of file robodk_api.h.

Function Documentation

◆ Debug_Array()

ROBODK void Debug_Array	(	const double *	array,
		int	arraysize
	)

Show an array through STDOUT Given an array of doubles, it generates a string.

Definition at line 4066 of file robodk_api.cpp.

◆ Debug_Matrix2D()

ROBODK void Debug_Matrix2D ( const tMatrix2D * mat )

Display the content of a tMatrix2D through STDOUT. This is only intended for debug purposes.

Parameters

[in] mat Pointer to the matrix

Definition at line 4080 of file robodk_api.cpp.

◆ emxEnsureCapacity()

void RoboDK_API::emxEnsureCapacity	(	tMatrix2D *	emxArray,
		int	oldNumel,
		unsigned int	elementSize
	)

Definition at line 3960 of file robodk_api.cpp.

◆ emxFree_real_T()

void RoboDK_API::emxFree_real_T ( tMatrix2D ** pEmxArray )

Definition at line 3943 of file robodk_api.cpp.

◆ emxInit_real_T()

void RoboDK_API::emxInit_real_T	(	tMatrix2D **	pEmxArray,
		int	numDimensions
	)

Definition at line 3920 of file robodk_api.cpp.

◆ Matrix2D_Add() [1/2]

void RoboDK_API::Matrix2D_Add	(	tMatrix2D *	var,
		const double *	array,
		int	numel
	)

Definition at line 4035 of file robodk_api.cpp.

◆ Matrix2D_Add() [2/2]

void RoboDK_API::Matrix2D_Add	(	tMatrix2D *	var,
		const tMatrix2D *	varadd
	)

Definition at line 4048 of file robodk_api.cpp.

◆ Matrix2D_Create()

ROBODK tMatrix2D * Matrix2D_Create ( )

Creates a new 2D matrix tMatrix2D.. Use Matrix2D_Delete to delete the matrix (to free the memory). The Procedure Debug_Matrix2D shows an example to read data from a tMatrix2D.

Definition at line 3936 of file robodk_api.cpp.

◆ Matrix2D_Delete()

ROBODK void Matrix2D_Delete ( tMatrix2D ** mat )

Deletes a tMatrix2D.

Parameters

[in] mat Pointer of the pointer to the matrix

Definition at line 3954 of file robodk_api.cpp.

◆ Matrix2D_Get_col()

ROBODK double * Matrix2D_Get_col	(	const tMatrix2D *	var,
		int	col
	)

Returns the pointer of a column of a tMatrix2D. A column has Matrix2D_Get_nrows values that can be accessed/modified from the returned pointer continuously.

Parameters

[in]	mat	Pointer to the matrix
[in]	col	Column to retreive. /return double array (internal pointer) to the column

Definition at line 4030 of file robodk_api.cpp.

◆ Matrix2D_Get_ij()

ROBODK double Matrix2D_Get_ij	(	const tMatrix2D *	var,
		int	i,
		int	j
	)

Returns the value at location [i,j] of a tMatrix2D.

Parameters

[in] mat Pointer to the matrix Returns the value of the cell

Definition at line 4023 of file robodk_api.cpp.

◆ Matrix2D_Get_ncols()

ROBODK int Matrix2D_Get_ncols ( const tMatrix2D * var )

Returns the number of columns of a tMatrix2D.

Parameters

[in] mat Pointer to the matrix Returns the number of columns (Second dimension)

Definition at line 4017 of file robodk_api.cpp.

◆ Matrix2D_Get_nrows()

ROBODK int Matrix2D_Get_nrows ( const tMatrix2D * var )

Returns the number of rows of a tMatrix2D.

Parameters

[in] mat Pointer to the matrix Returns the number of rows (First dimension)

Definition at line 4020 of file robodk_api.cpp.

◆ Matrix2D_SET_ij()

void RoboDK_API::Matrix2D_SET_ij	(	const tMatrix2D *	var,
		int	i,
		int	j,
		double	value
	)

Definition at line 4026 of file robodk_api.cpp.

◆ Matrix2D_Set_Size()

ROBODK void Matrix2D_Set_Size	(	tMatrix2D *	mat,
		int	rows,
		int	cols
	)

Sets the size of a tMatrix2D.

Parameters

	[in/out]	mat: Pointer to the matrix
[in]	rows	The number of rows.
[in]	cols	The number of columns.

Definition at line 3996 of file robodk_api.cpp.

◆ Matrix2D_Size()

ROBODK int Matrix2D_Size	(	const tMatrix2D *	mat,
		int	dim
	)

Sets the size of a tMatrix2D.

Parameters

	[in/out]	mat: Pointer to the matrix
[in]	dim	Dimension (1 or 2)

Definition at line 4009 of file robodk_api.cpp.

◆ operator<<() [1/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const Item &	itm
	)

inline

Definition at line 2568 of file robodk_api.h.

◆ operator<<() [2/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const Item *	itm
	)

inline

Definition at line 2572 of file robodk_api.h.

◆ operator<<() [3/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const Mat &	m
	)

inline

Displays the content of a Mat through STDOUT. This is only intended for debug purposes.

Parameters

[in]	mat	pose matrix
[in]	show_full_pose	set to false to display the 6 values of the pose as XYZWPR instead of the 4x4 matrix

Definition at line 2566 of file robodk_api.h.

◆ operator<<() [4/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const Mat *	m
	)

inline

Definition at line 2570 of file robodk_api.h.

◆ operator<<() [5/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const tJoints &	jnts
	)

inline

Definition at line 2567 of file robodk_api.h.

◆ operator<<() [6/6]

QDebug RoboDK_API::operator<<	(	QDebug	dbg,
		const tJoints *	jnts
	)

inline

Definition at line 2571 of file robodk_api.h.

◆ rotx()

ROBODK Mat rotx ( double rx )

Translation matrix class: Mat::rotx.

Definition at line 177 of file robodk_api.cpp.

◆ roty()

ROBODK Mat roty ( double ry )

Translation matrix class: Mat::roty.

Definition at line 181 of file robodk_api.cpp.

◆ rotz()

ROBODK Mat rotz ( double rz )

Translation matrix class: Mat::rotz.

Definition at line 185 of file robodk_api.cpp.

◆ transl()

ROBODK Mat transl	(	double	x,
		double	y,
		double	z
	)

Translation matrix class: Mat::transl.

Definition at line 173 of file robodk_api.cpp.

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ tConfig

◆ tXYZ

◆ tXYZWPR

Function Documentation

◆ Debug_Array()

◆ Debug_Matrix2D()

◆ emxEnsureCapacity()

◆ emxFree_real_T()

◆ emxInit_real_T()

◆ Matrix2D_Add() [1/2]

◆ Matrix2D_Add() [2/2]

◆ Matrix2D_Create()

◆ Matrix2D_Delete()

◆ Matrix2D_Get_col()

◆ Matrix2D_Get_ij()

◆ Matrix2D_Get_ncols()

◆ Matrix2D_Get_nrows()

◆ Matrix2D_SET_ij()

◆ Matrix2D_Set_Size()

◆ Matrix2D_Size()

◆ operator<<() [1/6]

◆ operator<<() [2/6]

◆ operator<<() [3/6]

◆ operator<<() [4/6]

◆ operator<<() [5/6]

◆ operator<<() [6/6]

◆ rotx()

◆ roty()

◆ rotz()

◆ transl()