FB_RandomPoseGenerator - SetPoseInPlaneRotationList (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Define constraints on position and orientation for the generation of a random Cartesian pose.

Description

The method SetPoseInPlaneRotationList allows you to define constraints on position and orientation for the generation of a random Cartesian pose contained in a selected working plane.

The rotation of the poses is randomly selected from a list of possible rotations provided.

To define a specific value for a constraint, set the minimum and the maximum to the same value.

Example

i_alrRotationList[1] := 90.0;
i_alrRorationList[2] := 180.0;
i_alrRotationProbabilityList[1] := 3.5;
i_alrRotationProbabilityList[2] := 1.5;

oIn 1.5/5 (30%) of the cases, a rotation value of 90.0 is used.

oIn 3.5/5 (70%) of the cases, a rotation value of 180.0 is used.

Interface

Input	Data type	Description
i_etPlane	ET_WorkingPlane	Used to select a working plane (for example, XY, XZ, YZ). The value of this input cannot be ROB.ET_WorkingPlane.None. While a specific working plane is selected, any generated pose describes a position contained in the plane (the position along the third 3D axis is set to 0) and a rotation about a vector normal to the plane.
i_stMinPosition	PDL.ST_Vector3D	Minimum position value that a generated pose can take. It can be considered as the minimum Cartesian coordinate contained in a volume defined.
i_stMaxPosition	PDL.ST_Vector3D	Maximum position value that a generated pose can take. It can be considered as the maximum Cartesian coordinate contained in a volume defined.
i_alrRotationList	ARRAY [1...Gc_uiMaxNumberOfRotations] OF LREAL	List of rotations. On each call of the method, a rotation value is selected in accordance to the values listed in i_alrRotationProbabilityList.
i_alrRotationProbabilityList	ARRAY [1...Gc_uiMaxNumberOfRotations] OF LREAL	List used to define the probabilities related to the random selection of a rotation from i_alrRotationList. The probability of each rotation is evaluated as the ratio between the value assigned to each element of the array and the total sum of the listed values.
i_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	PlaneInvalid	37	The selected working plane is invalid.
InputParameterInvalid	PositionXRange	40	The X position range provided as constraint of the random generation is invalid.
InputParameterInvalid	PositionYRange	41	The Y position range provided as constraint of the random generation is invalid.
InputParameterInvalid	PositionZRange	42	The Z position range provided as constraint of the random generation is invalid.
InputParameterInvalid	RotationProbabilitiesSumInvalid	47	The sum of the rotation probabilities provided is zero.
InputParameterInvalid	RotationProbabilityRange	48	A negative value for one of the probabilities related to the list of possible rotations was provided.
UnexpectedProgramBehavior	RandomSeedInvalid	39	The random seed value was initialized to an invalid value.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The set of constrains were successfully configured.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	38
Description:	Invalid orientation convention.

Issue	Cause	Solution
The orientation convention is invalid.	The input value of i_etOrientationConvention is invalid.	Provide one of the permissible values of ROB.ET_OrientationConvention.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	37
Description:	The selected working plane is invalid.

Issue	Cause	Solution
The selected working plane is invalid.	The provided value does not identify a known working plane.	Verify that the value is chosen from this set: oROB.ET_WorkingPlane.XY oROB.ET_WorkingPlane.XZ oROB.ET_WorkingPlane.YZ

Issue

Cause

Solution

The selected working plane is invalid.

The provided value does not identify a known working plane.

Verify that the value is chosen from this set:

oROB.ET_WorkingPlane.XY

oROB.ET_WorkingPlane.XZ

oROB.ET_WorkingPlane.YZ

PositionXRange

Enumeration name:	PositionXRange
Enumeration value:	40
Description:	The X position range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The X position range provided as constraint of the random generation is invalid.	The provided X position range is invalid.	oProvide a range that respects the following condition: i_stMinPosition.lrX ≤ i_stMaxPosition.lrX oIf a working plane was selected, verify that i_stMinPosition.lrX and i_stMaxPosition.lrX are contained in the plane.

Issue

Cause

Solution

The X position range provided as constraint of the random generation is invalid.

The provided X position range is invalid.

oProvide a range that respects the following condition:

i_stMinPosition.lrX ≤ i_stMaxPosition.lrX

oIf a working plane was selected, verify that i_stMinPosition.lrX and i_stMaxPosition.lrX are contained in the plane.

PositionYRange

Enumeration name:	PositionYRange
Enumeration value:	41
Description:	The Y position range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The Y position range provided as constraint of the random generation is invalid.	The provided Y position range is invalid.	oProvide a range that respects the following condition: i_stMinPosition.lrY ≤ i_stMaxPosition.lrY oIf a working plane was selected, verify that i_stMinPosition.lrY and i_stMaxPosition.lrY are contained the plane.

Issue

Cause

Solution

The Y position range provided as constraint of the random generation is invalid.

The provided Y position range is invalid.

oProvide a range that respects the following condition:

i_stMinPosition.lrY ≤ i_stMaxPosition.lrY

oIf a working plane was selected, verify that i_stMinPosition.lrY and i_stMaxPosition.lrY are contained the plane.

PositionZRange

Enumeration name:	PositionZRange
Enumeration value:	42
Description:	The Z position range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The Z position range provided as constraint of the random generation is invalid.	The provided Z position range is invalid.	oProvide a range that respects the following condition: i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ oIf a working plane was selected, verify that i_stMinPosition.lrZ and i_stMaxPosition.lrZ are contained the plane.

Issue

Cause

Solution

The Z position range provided as constraint of the random generation is invalid.

The provided Z position range is invalid.

oProvide a range that respects the following condition:

i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ

oIf a working plane was selected, verify that i_stMinPosition.lrZ and i_stMaxPosition.lrZ are contained the plane.

RandomSeedInvalid

Enumeration name:	RandomSeedInvalid
Enumeration value:	39
Description:	The random seed value was initialized to an invalid value.

Issue	Cause	Solution
The random seed value was internally set to an invalid value.	-	Contact your Schneider Electric representative.

RotationProbabilitiesSumInvalid

Enumeration name:	RotationProbabilitiesSumInvalid
Enumeration value:	47
Description:	The sum of the rotation probabilities provided is zero.

Issue	Cause	Solution
The sum of the provided rotation probabilities is 0.	The sum of the probabilities listed inside the input i_alrRotationProbabilityList must be greater than 0.	Verify that the sum of the provided probabilities is > 0.

RotationProbabilityRange

Enumeration name:	RotationProbabilityRange
Enumeration value:	48
Description:	A negative value for one of the probabilities related to the list of possible rotations was provided.

Issue	Cause	Solution
A negative value for one of the probabilities related to the list of possible rotations was provided.	One of the probabilities inside i_alrRotationProbabilityList has a negative value.	Verify that every probability has a value of zero or a positive value.