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 <irobodk.h>

Public Types
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 , MOVE_TYPE_LINEARSEARCH = 4 }
	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 , CALIBRATE_TURNTABLE_2X = 4 }
	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 , WINDOWSTATE_VIDEO = 7 }
	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	{ 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_TREE_VISIBLE = 8192 , FLAG_ROBODK_REFERENCES_VISIBLE = 16384 , FLAG_ROBODK_STATUSBAR_VISIBLE = 32768 , 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...

enum	{ RenderNone = 0 , RenderScreen = 1 , RenderUpdateOnly = 2 , RenderComplete = 0xff }
	Different render levels to update the screen. More...

enum	{ DrawTriangles = 1 , DrawLines = 2 , DrawPoints = 3 , DrawSpheres = 4 }
	Display geometry in 3D, with respect to the station coordinate system. This should be called using DrawGeometry ONLY when a PluginEvent of type EventRender is triggered. More...

Public Member Functions
virtual Item	getItem (const QString &name, int itemtype=-1)=0
	Returns an item by its name. If there is no exact match it will return the last closest match. More...

virtual QStringList	getItemListNames (int filter=-1)=0
	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...

virtual QList< Item >	getItemList (int filter=-1)=0
	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...

virtual bool	Valid (const Item item_check)=0
	Check if an item is valid (not null and available in the open station) More...

virtual Item	ItemUserPick (const QString &message="Pick one item", int itemtype=-1)=0
	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...

virtual Item	ItemUserPick (const QString &message, const QList< Item > &list_choices, int id_selected=-1)=0
	Shows a RoboDK popup to select one object from the open RoboDK station. You can provide a few items to choose from and, optionally, a selected index. More...

virtual void	ShowRoboDK ()=0
	Shows or raises the RoboDK window.

virtual void	HideRoboDK ()=0
	Hides the RoboDK window. RoboDK will continue running in the background.

virtual void	CloseRoboDK ()=0
	Closes RoboDK window and finishes RoboDK execution

virtual QString	Version ()=0
	Return the vesion of RoboDK as a 4 digit string: Major.Minor.Revision.Build

virtual void	setWindowState (int windowstate=WINDOWSTATE_NORMAL)=0
	Set the state of the RoboDK window More...

virtual void	setFlagsRoboDK (int flags=FLAG_ROBODK_ALL)=0
	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...

virtual void	setFlagsItem (int flags=FLAG_ITEM_ALL, Item item=nullptr)=0
	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...

virtual int	getFlagsItem (Item item)=0
	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...

virtual void	ShowMessage (const QString &message, bool popup=true)=0
	Show a message in RoboDK (it can be blocking or non blocking in the status bar) More...

virtual Item	AddFile (const QString &filename, const Item parent=nullptr)=0
	Loads a file and attaches it to parent. It can be any file supported by RoboDK. More...

virtual void	Save (const QString &filename, const Item itemsave=nullptr)=0
	Save an item to a file. If no item is provided, the open station is saved. More...

virtual Item	AddShape (const tMatrix2D trianglePoints, Item addTo=nullptr, bool shapeOverride=false, tColor color=nullptr)=0
	Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices. A vertex normal can be provided optionally. More...

virtual Item	AddCurve (const tMatrix2D *curvePoints, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
	Adds a curve provided point coordinates. The provided points must be a list of vertices. A vertex normal can be provided optionally. More...

virtual Item	AddPoints (const tMatrix2D *points, Item referenceObject=nullptr, bool addToRef=false, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
	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...

virtual bool	ProjectPoints (tMatrix2D *points, Item objectProject, int ProjectionType=PROJECTION_ALONG_NORMAL_RECALC)=0
	Projects a list of points given its coordinates. The provided points must be a list of [XYZ] coordinates. Optionally, a vertex normal can be provided [XYZijk]. More...

virtual void	CloseStation ()=0
	Close the current station without asking to save.

virtual Item	AddTarget (const QString &name, Item itemparent=nullptr, Item itemrobot=nullptr)=0
	Adds a new target that can be reached with a robot. More...

virtual Item	AddFrame (const QString &name, Item itemparent=nullptr)=0
	Adds a new Frame that can be referenced by a robot. More...

virtual Item	AddProgram (const QString &name, Item itemrobot=nullptr)=0
	Adds a new Frame that can be referenced by a robot. More...

virtual Item	AddStation (QString name)=0
	Add a new empty station. It returns the station item added. More...

virtual Item	AddMachiningProject (QString name="Curve follow settings", Item itemrobot=nullptr)=0
	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...

virtual QList< Item >	getOpenStations ()=0
	Returns the list of open stations in RoboDK. More...

virtual void	setActiveStation (Item stn)=0
	Set the active station (project currently visible). More...

virtual Item	getActiveStation ()=0
	Returns the active station item (station currently visible). More...

virtual int	RunProgram (const QString &function_w_params)=0
	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...

virtual int	RunCode (const QString &code, bool code_is_fcn_call=false)=0
	Adds code to run in the program output. If the program exists it will also run the program in simulation mode. More...

virtual void	RunMessage (const QString &message, bool message_is_comment=false)=0
	Shows a message or a comment in the output robot program. More...

virtual void	Render (int flags=RenderComplete)=0
	Update the scene. More...

virtual bool	IsInside (Item object_inside, Item object_parent)=0
	Check if an object is fully inside another one. More...

virtual int	setCollisionActive (int check_state=COLLISION_ON)=0
	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...

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

virtual int	Collisions ()=0
	Returns the number of pairs of objects that are currently in a collision state. If collision checking is not active it will calculate collision checking. More...

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

virtual QList< Item >	getCollisionItems (QList< int > *link_id_list=nullptr)=0
	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...

virtual void	setSimulationSpeed (double speed)=0
	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...

virtual double	SimulationSpeed ()=0
	Gets the current simulation speed. Set the speed to 1 for a real-time simulation. More...

virtual void	setRunMode (int run_mode=1)=0
	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...

virtual int	RunMode ()=0
	Returns the behavior of the RoboDK API. By default, RoboDK shows the path simulation for movement instructions (run_mode=1). More...

virtual QList< QPair< QString, QString > >	getParams ()=0
	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...

virtual QString	getParam (const QString &param)=0
	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...

virtual void	setParam (const QString &param, const QString &value)=0
	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...

virtual QString	Command (const QString &cmd, const QString &value="")=0
	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...

virtual bool	LaserTrackerMeasure (tXYZ xyz, const tXYZ estimate, bool search=false)=0
	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...

virtual bool	MeasurePose (Mat *pose, double data[10], int target=-1, int time_avg_ms=0, const tXYZ tool_tip=nullptr)=0
	Takes a pose measurement (requires a supported measurement system). More...

virtual bool	CollisionLine (const tXYZ p1, const tXYZ p2)=0
	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...

virtual void	CalibrateTool (const 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)=0
	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...

virtual Mat	CalibrateReference (const tMatrix2D *poses_joints, int method=CALIBRATE_FRAME_3P_P1_ON_X, bool use_joints=false, Item robot=nullptr)=0
	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...

virtual bool	ProgramStart (const QString &progname, const QString &defaultfolder="", const QString &postprocessor="", Item robot=nullptr)=0
	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...

virtual void	setViewPose (const Mat &pose)=0
	Set the pose of the wold reference frame with respect to the user view (camera/screen). More...

virtual Mat	ViewPose ()=0
	Get the pose of the wold reference frame with respect to the user view (camera/screen). More...

virtual bool	SetRobotParams (Item robot, tMatrix2D dhm, Mat poseBase, Mat poseTool)=0
	Set the nominal robot parameters. More...

virtual Item	getCursorXYZ (int x=-1, int y=-1, tXYZ xyzStation=nullptr)=0
	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...

virtual QString	License ()=0
	Returns the license as a readable string (same name shown in the RoboDK's title bar, on top of the main menu). More...

virtual QList< Item >	Selection ()=0
	Returns the list of items selected (it can be one or more items). More...

virtual Item	Popup_ISO9283_CubeProgram (Item robot=nullptr, tXYZ center=nullptr, double side=-1)=0
	Show the popup menu to create the ISO9283 path for position accuracy, repeatability and path accuracy performance testing. More...

virtual QByteArray	getData (const QString &param)=0
	Gets a plugin defined parameter from the open RoboDK station. Saved parameters can be viewed or deleted by right clicking the station and selecting "shared parameters". More...

virtual void	setData (const QString &param, const QByteArray &value)=0
	Sets a data parameter saved with the RoboDK station. If the parameters exists, it will be updated. If not, it will be added to the station. Saved parameters can be viewed or deleted by right clicking the station and selecting "shared parameters". More...

virtual int	CollisionActive ()=0
	Returns the status of collision checking (COLLISION_ON=1 if the user want to have collision checking or COLLISION_OFF=0 if the user disabled collision checking). More...

virtual bool	DrawGeometry (int drawtype, float vtx_pointer, int vtx_size, float color[4], float geo_size=2.0, float vtx_normals=nullptr)=0
	Draw geometry in the RoboDK's 3D view. This function must be called only inside a PluginEvent of type EventRender is triggered. More...

virtual bool	DrawTexture (const QImage image, const float vtx_pointer, const float texture_coords, int num_triangles, float vtx_normals=nullptr)=0
	Draw a texture in the RoboDK's 3D view. This function must be called only inside a PluginEvent of type EventRender is triggered. More...

virtual void	setSelection (const QList< Item > &listitems)=0
	Set the selection in the tree

virtual void	setInteractiveMode (int mode_type, int default_ref_flags, const QList< Item > *custom_object=nullptr, int custom_ref_flags=0)=0
	Set the interactive mode to define the behavior when navigating and selecting items in RoboDK's 3D view. More...

virtual void	PluginLoad (const QString &plugin_name="", int load=1)=0
	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...

virtual QString	PluginCommand (const QString &plugin_name="", const QString &plugin_command="", const QString &value="")=0
	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...

virtual QByteArray	getParamBytes (const QString &param)=0
	Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be added or modified by plugins and scripts (not by the user). More...

virtual void	setParamBytes (const QString &param, const QByteArray &value)=0
	Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be added or modified by plugins and scripts (not by the user). More...

virtual int	StereoCamera_Measure (Mat pose1, Mat pose2, int &npoints1, int &npoints2, double *data=nullptr, float time_avg=0, const tXYZ tip_xyz=nullptr)=0
	Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and the measured object reference frame. Status is negative if the measurement failed. extra data is [error_avg, error_max] in mm, if we are averaging a pose. More...

virtual Item	BuildMechanism (int type, const QList< Item > &list_obj, const double *parameters, const tJoints &joints_build, const tJoints &joints_home, const tJoints &joints_senses, const tJoints &joints_lim_low, const tJoints &joints_lim_high, const Mat base, const Mat tool, const QString &name, Item robot=nullptr)=0
	Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and the measured object reference frame. Status is negative if the measurement failed. extra data is [error_avg, error_max] in mm, if we are averaging a pose. More...

virtual Item	Cam2D_Add (const Item attach_to, const QString &params="")=0
	Open a simulated 2D camera view. Returns a handle pointer that can be used in case more than one simulated view is used. More...

virtual QImage	Cam2D_Snapshot (const QString &file, const Item camera=nullptr, const QString &params="")=0
	Take a snapshot from a simulated camera view and save it to a file. Returns 1 if success, 0 otherwise. More...

virtual Item	MergeItems (const QList< Item > &listitems)=0
	Merge multiple object items as one. Source objects are not deleted and a new object is created.

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 14 of file irobodk.h.

Member Enumeration Documentation

◆ 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 23 of file irobodk.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 215 of file irobodk.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 233 of file irobodk.h.

◆ anonymous enum

anonymous enum

Spray gun simulation:

Enumerator
SPRAY_OFF	Activate the spray simulation.

Definition at line 248 of file irobodk.h.

◆ anonymous enum

anonymous enum

Collision checking state.

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

Definition at line 255 of file irobodk.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_TREE_VISIBLE	Make the tree visible.
FLAG_ROBODK_REFERENCES_VISIBLE	Make the reference frames visible.
FLAG_ROBODK_STATUSBAR_VISIBLE	Make the statusbar visible.
FLAG_ROBODK_NONE	Disallow everything.
FLAG_ROBODK_ALL	Allow everything (default).
FLAG_ROBODK_MENU_ACTIVE_ALL	Allow using the full menu.

Definition at line 264 of file irobodk.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 324 of file irobodk.h.

◆ anonymous enum

anonymous enum

Different render levels to update the screen.

Enumerator
RenderNone	Do not render the screen.
RenderScreen	Redisplay the screen.
RenderUpdateOnly	Update all positions of modified items (robots, references and objects) and their child items.
RenderComplete	Provokes an update and then screen display (full update and render).

Definition at line 355 of file irobodk.h.

◆ anonymous enum

anonymous enum

Display geometry in 3D, with respect to the station coordinate system. This should be called using DrawGeometry ONLY when a PluginEvent of type EventRender is triggered.

Enumerator
DrawTriangles	Draw surfaces.
DrawLines	Draw lines.
DrawPoints	Draw points.
DrawSpheres	Draw spheres.

Definition at line 370 of file irobodk.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).
MOVE_TYPE_LINEARSEARCH	Linear search function.

Definition at line 59 of file irobodk.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 77 of file irobodk.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 98 of file irobodk.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 107 of file irobodk.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.
CALIBRATE_TURNTABLE_2X	Calibrate a 2 axis turntable.

Definition at line 117 of file irobodk.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 135 of file irobodk.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 156 of file irobodk.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.
WINDOWSTATE_VIDEO	Display RoboDK in video mode.

Definition at line 184 of file irobodk.h.

Constructor & Destructor Documentation

◆ ~IRoboDK()

virtual ~IRoboDK ( )

inlinevirtual

Definition at line 18 of file irobodk.h.

Member Function Documentation

◆ AddCurve()

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

pure virtual

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)

◆ AddFile()

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

pure virtual

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.

◆ AddFrame()

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

pure virtual

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.

◆ AddMachiningProject()

virtual Item AddMachiningProject	(	QString	name = `"Curve follow settings"`,
		Item	itemrobot = `nullptr`
	)

pure virtual

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).

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

◆ AddPoints()

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

pure virtual

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)

◆ AddProgram()

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

pure virtual

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

◆ AddShape()

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

pure virtual

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

◆ AddStation()

virtual Item AddStation ( QString name )

pure virtual

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

Parameters

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

◆ AddTarget()

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

pure virtual

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

◆ BuildMechanism()

virtual Item BuildMechanism	(	int	type,
		const QList< Item > &	list_obj,
		const double *	parameters,
		const tJoints &	joints_build,
		const tJoints &	joints_home,
		const tJoints &	joints_senses,
		const tJoints &	joints_lim_low,
		const tJoints &	joints_lim_high,
		const Mat	base,
		const Mat	tool,
		const QString &	name,
		Item	robot = `nullptr`
	)

pure virtual

Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and the measured object reference frame. Status is negative if the measurement failed. extra data is [error_avg, error_max] in mm, if we are averaging a pose.

Parameters

type	Type of the mechanism
list_obj	list of object items that build the robot
parameters	robot parameters in the same order as shown in the RoboDK menu: Utilities-Build Mechanism or robot
joints_build	Current state of the robot (joint axes) to build the robot
joints_home	joints for the home position (it can be changed later)
joints_senses	Sense of rotation of each axis (+1 or -1)
joints_lim_low	Lower joint limits
joints_lim_high	Upper joint limits
base	Base pose offset (robot pose)
tool	Tool flange pose offset
name	Robot name
robot	Modify existing robot

Returns: New robot or mechanism created.

◆ CalibrateReference()

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

pure virtual

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

◆ CalibrateTool()

virtual void CalibrateTool	(	const 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`
	)

pure virtual

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

◆ Cam2D_Add()

virtual Item Cam2D_Add	(	const Item	attach_to,
		const QString &	params = `""`
	)

pure virtual

Open a simulated 2D camera view. Returns a handle pointer that can be used in case more than one simulated view is used.

Returns: Camera item

◆ Cam2D_Snapshot()

virtual QImage Cam2D_Snapshot	(	const QString &	file,
		const Item	camera = `nullptr`,
		const QString &	params = `""`
	)

pure virtual

Take a snapshot from a simulated camera view and save it to a file. Returns 1 if success, 0 otherwise.

Returns: Valid QImage if a file was not provided or an invalid/empty QImage if we are saving the file to disk

◆ Collision()

virtual int Collision	(	Item	item1,
		Item	item2
	)

pure virtual

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

Parameters

item1
item2

Returns: 0 if no collisions are found.

◆ CollisionActive()

virtual int CollisionActive ( )

pure virtual

Returns the status of collision checking (COLLISION_ON=1 if the user want to have collision checking or COLLISION_OFF=0 if the user disabled collision checking).

Returns: COLLISION_ON=1 or COLLISION_OFF=0

◆ CollisionLine()

virtual bool CollisionLine	(	const tXYZ	p1,
		const tXYZ	p2
	)

pure virtual

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()

virtual int Collisions ( )

pure virtual

Returns the number of pairs of objects that are currently in a collision state. If collision checking is not active it will calculate collision checking.

Returns: 0 if no collisions are found.

◆ Command()

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

pure virtual

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.

◆ DrawGeometry()

virtual bool DrawGeometry	(	int	drawtype,
		float *	vtx_pointer,
		int	vtx_size,
		float	color[4],
		float	geo_size = `2.0`,
		float *	vtx_normals = `nullptr`
	)

pure virtual

Draw geometry in the RoboDK's 3D view. This function must be called only inside a PluginEvent of type EventRender is triggered.

Parameters

drawtype	type of geometry (triangles, lines, points or spheres)
vtx_pointer	Pointer to an array of vertexs in mm, with respect to the RoboDK station (absolute reference)
vtx_size	Size of the geometry (number of triangles, number of vertex lines or number of points)
color	Color as RGBA [0,1]
geo_size	Size of the lines or points (ignored for surfaces)
vtx_normals	vertex normals as unitary vectors (optional, only used to draw surfaces)

Returns: true if successful, false if input is not correct or build does not support drawing in double or single precision floating point

◆ DrawTexture()

virtual bool DrawTexture	(	const QImage *	image,
		const float *	vtx_pointer,
		const float *	texture_coords,
		int	num_triangles,
		float *	vtx_normals = `nullptr`
	)

pure virtual

Draw a texture in the RoboDK's 3D view. This function must be called only inside a PluginEvent of type EventRender is triggered.

Parameters

image	Pointer to an image in RGBA format (it is important to have it in RGBA)
vtx_pointer	Pointer to an array of vertexs in mm, with respect to the RoboDK station (absolute reference)
texture_coords	Texture coordinates (2D coordinates per vertex)
num_triangles	Size of the geometry (number of triangles)
vtx_normals	vertex normals as unitary vectors (optional)

Returns: true if successful, false if input is not correct or build does not support drawing in double or single precision floating point

◆ getActiveStation()

virtual Item getActiveStation ( )

pure virtual

Returns the active station item (station currently visible).

Returns

◆ getCollisionItems()

virtual QList< Item > getCollisionItems ( QList< int > * link_id_list = nullptr )

pure virtual

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.

◆ getCursorXYZ()

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

pure virtual

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.

◆ getData()

virtual QByteArray getData ( const QString & param )

pure virtual

Gets a plugin defined parameter from the open RoboDK station. Saved parameters can be viewed or deleted by right clicking the station and selecting "shared parameters".

Parameters

param RoboDK data parameter

Returns: Data value.

◆ getFlagsItem()

virtual int getFlagsItem ( Item item )

pure virtual

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

◆ getItem()

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

pure virtual

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

◆ getItemList()

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

pure virtual

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))

Parameters

filter ITEM_TYPE

Returns: List of items with a match

◆ getItemListNames()

virtual QStringList getItemListNames ( int filter = -1 )

pure virtual

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))

Parameters

filter ITEM_TYPE_...

Returns: List of item names

◆ getOpenStations()

virtual QList< Item > getOpenStations ( )

pure virtual

Returns the list of open stations in RoboDK.

Returns

◆ getParam()

virtual QString getParam ( const QString & param )

pure virtual

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.

◆ getParamBytes()

virtual QByteArray getParamBytes ( const QString & param )

pure virtual

Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be added or modified by plugins and scripts (not by the user).

Parameters

param RoboDK parameter

Returns: Parameter data.

◆ getParams()

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

pure virtual

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)

◆ IsInside()

virtual bool IsInside	(	Item	object_inside,
		Item	object_parent
	)

pure virtual

Check if an object is fully inside another one.

Parameters

object_inside
object_parent

Returns: Returns true if object_inside is inside the object_parent

◆ ItemUserPick() [1/2]

virtual Item ItemUserPick	(	const QString &	message,
		const QList< Item > &	list_choices,
		int	id_selected = `-1`
	)

pure virtual

Shows a RoboDK popup to select one object from the open RoboDK station. You can provide a few items to choose from and, optionally, a selected index.

Parameters

message	Message to show in the pop up
list_choices	Items to choose from
id_selected	Selected id from list_choices if we want to select an item

Returns: Picked item or nullptr if the user selected Cancel

◆ ItemUserPick() [2/2]

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

pure virtual

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.

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

◆ LaserTrackerMeasure()

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

pure virtual

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.

◆ License()

virtual QString License ( )

pure virtual

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

Returns

◆ MeasurePose()

virtual bool MeasurePose	(	Mat *	pose,
		double	data[10],
		int	target = `-1`,
		int	time_avg_ms = `0`,
		const tXYZ	tool_tip = `nullptr`
	)

pure virtual

Takes a pose measurement (requires a supported measurement system).

Parameters

pose	Measured pose
pose	Additional returned data [visible targets, button state, average error, max error]
target	Target type
time_avg_ms	Average the pose from the buffer
tool_tip	XYZ position of the tool tip for average calculation

Returns: True if successful, false if unable to measure.

◆ PluginCommand()

virtual QString PluginCommand	(	const QString &	plugin_name = `""`,
		const QString &	plugin_command = `""`,
		const QString &	value = `""`
	)

pure virtual

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.

Parameters

plugin_name	The plugin name must match the PluginName() implementation in the RoboDK plugin.
plugin_command	Specific command handled by your plugin.
value	Specific value (optional) handled by your plugin.

◆ PluginLoad()

virtual void PluginLoad	(	const QString &	plugin_name = `""`,
		int	load = `1`
	)

pure virtual

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.

Parameters

plugin_name	Name of the plugin or path (if it is not in the default directory.
load	load the plugin (1/default) or unload (0)

◆ Popup_ISO9283_CubeProgram()

virtual Item Popup_ISO9283_CubeProgram	(	Item	robot = `nullptr`,
		tXYZ	center = `nullptr`,
		double	side = `-1`
	)

pure virtual

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

◆ ProgramStart()

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

pure virtual

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

◆ ProjectPoints()

virtual bool ProjectPoints	(	tMatrix2D *	points,
		Item	objectProject,
		int	ProjectionType = `PROJECTION_ALONG_NORMAL_RECALC`
	)

pure virtual

Projects a list of points 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. This matrix will contain the modified points after the projection.
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.

Returns: True if projection succeeded, False if input is not correct

◆ Render()

virtual void Render ( int flags = RenderComplete )

pure virtual

Update the scene.

Parameters

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

◆ RunCode()

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

pure virtual

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

Parameters

code
code_is_fcn_call

Returns

◆ RunMessage()

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

pure virtual

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

Parameters

message
message_is_comment

◆ RunMode()

virtual int RunMode ( )

pure virtual

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

◆ RunProgram()

virtual int RunProgram ( const QString & function_w_params )

pure virtual

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

◆ Save()

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

pure virtual

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.

◆ Selection()

virtual QList< Item > Selection ( )

pure virtual

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

Returns: List of selected items.

◆ setActiveStation()

virtual void setActiveStation ( Item stn )

pure virtual

Set the active station (project currently visible).

Parameters

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

◆ setCollisionActive()

virtual int setCollisionActive ( int check_state = COLLISION_ON )

pure virtual

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.

Parameters

check_state

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

◆ setCollisionActivePair()

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

pure virtual

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)

◆ setData()

virtual void setData	(	const QString &	param,
		const QByteArray &	value
	)

pure virtual

Sets a data parameter saved with the RoboDK station. If the parameters exists, it will be updated. If not, it will be added to the station. Saved parameters can be viewed or deleted by right clicking the station and selecting "shared parameters".

Parameters

param	RoboDK data parameter name
value	data value

Returns

◆ setFlagsItem()

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

pure virtual

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

◆ setFlagsRoboDK()

virtual void setFlagsRoboDK ( int flags = FLAG_ROBODK_ALL )

pure virtual

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.

Parameters

flags state of the window(FLAG_ROBODK_*)

◆ setInteractiveMode()

virtual void setInteractiveMode	(	int	mode_type,
		int	default_ref_flags,
		const QList< Item > *	custom_object = `nullptr`,
		int	custom_ref_flags = `0`
	)

pure virtual

Set the interactive mode to define the behavior when navigating and selecting items in RoboDK's 3D view.

Parameters

mode_type	The mode type defines what accion occurs when the 3D view is selected (Select object, Pan, Rotate, Zoom, Move Objects, ...)
default_ref_flags	When a movement is specified, we can provide what motion we allow by default with respect to the coordinate system (set apropriate flags)
custom_object	Provide a list of optional items to customize the move behavior for these specific items (important: the lenght of custom_ref_flags must match)
custom_ref_flags	Provide a matching list of flags to customize the movement behavior for specific items

◆ setParam()

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

pure virtual

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

◆ setParamBytes()

virtual void setParamBytes	(	const QString &	param,
		const QByteArray &	value
	)

pure virtual

Gets a user parameter from the open RoboDK station (Bytes type). Special QByteArray parameters can be added or modified by plugins and scripts (not by the user).

Parameters

param	RoboDK parameter
value	Data value

◆ SetRobotParams()

virtual bool SetRobotParams	(	Item	robot,
		tMatrix2D	dhm,
		Mat	poseBase,
		Mat	poseTool
	)

pure virtual

Set the nominal robot parameters.

Parameters

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

Returns

◆ setRunMode()

virtual void setRunMode ( int run_mode = 1 )

pure virtual

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

◆ setSimulationSpeed()

virtual void setSimulationSpeed ( double speed )

pure virtual

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)

◆ setViewPose()

virtual void setViewPose ( const Mat & pose )

pure virtual

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

Parameters

pose	View pose.

◆ setWindowState()

virtual void setWindowState ( int windowstate = WINDOWSTATE_NORMAL )

pure virtual

Set the state of the RoboDK window

Parameters

windowstate

◆ ShowMessage()

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

pure virtual

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

◆ SimulationSpeed()

virtual double SimulationSpeed ( )

pure virtual

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

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

◆ StereoCamera_Measure()

virtual int StereoCamera_Measure	(	Mat	pose1,
		Mat	pose2,
		int &	npoints1,
		int &	npoints2,
		double *	data = `nullptr`,
		float	time_avg = `0`,
		const tXYZ	tip_xyz = `nullptr`
	)

pure virtual

Takes a measurement with a 6D measurement device. It returns two poses, the base reference frame and the measured object reference frame. Status is negative if the measurement failed. extra data is [error_avg, error_max] in mm, if we are averaging a pose.

Parameters

pose1	Pose of the main object
pose2	Pose of the reference object
npoints1	Number of points visible for object 1
npoints2	Number of points visible for object 2t
status	Status flag
data	Additional data from the device
time_avg	Take the measurement for a period of time and average the result.
tip_xyz	Offet the measurement to the tip.

Returns: Status flags.

◆ Valid()

virtual bool Valid ( const Item item_check )

pure virtual

Check if an item is valid (not null and available in the open station)

Parameters

item_check Item to check

Returns: True if the item exists, false otherwise

◆ ViewPose()

virtual Mat ViewPose ( )

pure virtual

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

Returns: View pose.

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

irobodk.h

Public Types

Public Member Functions

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

◆ ~IRoboDK()

Member Function Documentation

◆ AddCurve()

◆ AddFile()

◆ AddFrame()

◆ AddMachiningProject()

◆ AddPoints()

◆ AddProgram()

◆ AddShape()

◆ AddStation()

◆ AddTarget()

◆ BuildMechanism()

◆ CalibrateReference()

◆ CalibrateTool()

◆ Cam2D_Add()

◆ Cam2D_Snapshot()

◆ Collision()

◆ CollisionActive()

◆ CollisionLine()

◆ Collisions()

◆ Command()

◆ DrawGeometry()

◆ DrawTexture()

◆ getActiveStation()

◆ getCollisionItems()

◆ getCursorXYZ()

◆ getData()

◆ getFlagsItem()

◆ getItem()

◆ getItemList()

◆ getItemListNames()

◆ getOpenStations()

◆ getParam()

◆ getParamBytes()

◆ getParams()

◆ IsInside()

◆ ItemUserPick() [1/2]

◆ ItemUserPick() [2/2]

◆ LaserTrackerMeasure()

◆ License()

◆ MeasurePose()

◆ PluginCommand()

◆ PluginLoad()

◆ Popup_ISO9283_CubeProgram()

◆ ProgramStart()

◆ ProjectPoints()

◆ Render()

◆ RunCode()

◆ RunMessage()

◆ RunMode()

◆ RunProgram()

◆ Save()

◆ Selection()

◆ setActiveStation()

◆ setCollisionActive()

◆ setCollisionActivePair()

◆ setData()

◆ setFlagsItem()