Class KinematicsEventData¶

Defined in File KinematicsApi.h

Nested Relationships¶

Nested Types¶

Union KinematicsEventData::EventTriggerData

Class Documentation¶

class KinematicsEventData¶

data for defining event in the kinematics library

Public Types

enum EventTriggerType¶

This enumerator defines the types of event triggers for starting motions.

Values:

enumerator EventTriggerManual¶: start motion with manual function call of startMotion. Not to use in EventInput.

enumerator EventTriggerImmediate¶: start motion immediately if the robot is idle, else wait the current motion end. Not to use in EventInput.

enumerator EventTriggerMotionStart¶: start motion when a motion of another robot start.

enumerator EventTriggerMotionEnd¶: start motion when a motion end. It can apply to the cases where the motion is executed by only the other robot.

enumerator EventTriggerMotionRemainedDistance¶: trigger when the remained distance of the motion becomes less than a given value.

enumerator EventTriggerMotionRemainingTime¶: trigger when the remaining time of the motion becomes less than a given value.

union EventTriggerData¶

This union holds data for specific event triggers. It contains either the remained distance for EventTriggerMotionRemainedDistance or the remaining time in milliseconds for EventTriggerMotionRemainingTime.

Public Members

double remainedDistance¶: remained distance[mm]. for EventTriggerMotionRemainedDistance trigger.

double remainingTimeMillisecond¶: remaining time [msec]. for EventTriggerMotionRemainingTime trigger.