Class RobotConfig¶

Defined in File RobotMotionApi.h

Class Documentation¶

class RobotConfig¶

Class for managing XML data and files.

Public Functions

RobotConfig(WMX3Api *f)¶

~RobotConfig()¶

int ExportParamXML(const TCHAR *filepath, RobotMotionParam &xmlParam)¶

Export the paramters to the given path by XML format.

Export the robot paramters to the given path by XML format. The robot parameters stored in the class are saved in the given XML format.

Parameters:

filepath – [in] The absolute file path to load the parameter file from
xmlParam – [in] Robot parameter which user want to export

Returns:

0 if success, otherwise return error code.

int ImportParamXML(const TCHAR *filepath, RobotMotionParam &xmlParam)¶

Import the paramters from the given XML file.

Import the robot paramters from the given XML file. The robot parameters which read from given XML format will stored in the class.

Remark

If user want to send the robot parameter from the class to rtdll module, User must call ‘SetRobotParam’ api after call this api.

Parameters:

filepath – [in] The absolute file path to load the parameter file from
xmlParam – [out] Keep robot parameter from given XML file

Returns:

0 if success, otherwise return error code.

int ExportParamURDF(const TCHAR *filepath, RobotMotionParam &urdfParam)¶

Export the paramters to the given path by URDF format.

Export the robot paramters to the given path by URDF format. The robot parameters stored in the class are saved in the given URDF format.

Parameters:

filepath – [in] The absolute file path to load the parameter file from
urdfParam – [in] Robot parameter which user want to export

Returns:

0 if success, otherwise return error code.

int ImportParamURDF(const TCHAR *filepath, const int robotID, RobotMotionParam &urdfParam)¶

Import the paramters from the given URDF file.

Import the robot paramters from the given URDF file. The robot parameters which read from given URDF format will stored in the class.

Remark

If user want to send the robot parameter from the class to rtdll module, User must call ‘SetRobotParam’ api after call this api.

Note

The robot model is always ‘UserDefinedModel’ when importing URDF file.

Parameters:

filepath – [in] The absolute file path to load the parameter file from
robotID – [in] The ID of the robot
urdfParam – [out] Keep robot parameter from given URDF file

Returns:

0 if success, otherwise return error code.

Public Static Functions

static AxisSelection GetAxisSelection(const kinematics::RobotParam &param)¶

Get WMX3 AxisSelection that the robot uses.

Parameters:: param – [in] Robot parameter structure
Returns:: WMX3 Axis structure which the robot uses.

static void GetAxisSelection(const kinematics::RobotParam &param, AxisSelection &axes)¶

Get WMX3 AxisSelection that the robot uses.

Parameters:

param – [in] Robot parameter structure
axes – [out] WMX3 Axis structure which the robot uses