ParameterTypes.h

Go to the documentation of this file.

/* ParameterTypes.h - Parameter Extraction type definitions header file */

/*
* Software License Agreement (BSD License) 
*
* Copyright (c) 2011, Yaskawa America, Inc.
* All rights reserved.
*
* Redistribution and use in binary form, with or without modification,
* is permitted provided that the following conditions are met:
*
*       * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*       * Neither the name of the Yaskawa America, Inc., nor the names 
*       of its contributors may be used to endorse or promote products derived
*       from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/ 

#ifndef _INC_MOTOMANPARAMETER_TYPES_H
#define _INC_MOTOMANPARAMETER_TYPES_H

#ifdef __cplusplus
extern "C" {
#endif

typedef struct
{
        float PtoR[MAX_PULSE_AXES]; //Array to store PULSE TO RADIAN conversion factors for each axes
} PULSE_TO_RAD;

typedef struct
{
        float PtoM[MAX_PULSE_AXES]; //Array to store PULSE TO METER conversion factors for each axes
} PULSE_TO_METER;

typedef enum
{
        AXIS_ROTATION,
        AXIS_LINEAR,
        AXIS_INVALID
} AXIS_TYPE;

typedef struct
{
        AXIS_TYPE       type[MAX_PULSE_AXES];   //Array to store whether axis is rotational or linear
} AXIS_MOTION_TYPE;

typedef struct
{
        BOOL  bValid;                   //TRUE if ulSourceAxis != 0
        INT32 ulSourceAxis;             
        INT32 ulCorrectionAxis;  
        float fCorrectionRatio; 
} FB_AXIS_CORRECTION;

typedef struct
{
        FB_AXIS_CORRECTION  correction[MAX_PULSE_AXES];
} FB_PULSE_CORRECTION_DATA;

typedef struct
{
        UINT32  qtyOfOutFiles;                          
        UINT32  qtyOfHighPriorityTasks;         
        UINT32  qtyOfNormalPriorityTasks;       
} TASK_QTY_INFO;
        
typedef struct
{
        UINT16 periodInMilliseconds;
} GP_INTERPOLATION_PERIOD;

typedef struct
{
        UINT32  maxIncrement[MAX_PULSE_AXES];
} MAX_INCREMENT_INFO;

typedef struct
{
        int ctrlGrp;                            //Robot control group
        int IpCycleInMilliseconds;      //Interpolation Cycle in milliseconds
        MAX_INCREMENT_INFO info;        //Maximum increment per interpolation cycle
} MAX_INC_PIPC;

typedef struct
{
        INT32 maxLimit[MAX_PULSE_AXES];
        INT32 minLimit[MAX_PULSE_AXES];
} JOINT_PULSE_LIMITS;

typedef struct
{
        INT32 maxLimit[MAX_PULSE_AXES];
} JOINT_ANGULAR_VELOCITY_LIMITS;

typedef struct
{
        BOOL bFeedbackSpeedEnabled;
        ULONG cioAddressForAxis[MAX_PULSE_AXES][2];
} JOINT_FEEDBACK_SPEED_ADDRESSES;

typedef struct
{
        float theta;
        float d;
        float a;
        float alpha;
} DH_LINK;

typedef struct
{
        DH_LINK link[MAX_PULSE_AXES];
} DH_PARAMETERS;

#ifdef __cplusplus
}
#endif

#endif