FB_RandomPoseGenerator - SetPoseOrientationList (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 SetPoseOrientationList allows you to define constraints on position and orientation for the generation of a random Cartesian pose.

The orientation of the poses is randomly selected from a list of possible orientations provided by you.

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

Example

i_astOrientationList[1].lrZ := 90.0;
i_astOrientationList[2].lrZ := 180.0;
i_alrOrientationProbabilityList[1] := 3.5;
i_alrOrientationProbabilityList[2] := 1.5;

oIn 1.5/5 (30%) of the cases, an orientation of 90 degrees about Z is used.

oIn 3.5/5 (70%) of the cases, an orientation of 180 degrees about Z is used.

Interface

Input	Data type	Description
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 by you.
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 by you.
i_astOrientationList	ARRAY [1...Gc_udiMaxNumberOfOrientations] OF PDL.ST_Vector3D	List of orientations expressed as roll, pitch, and yaw angles. The resulting Cartesian pose has an orientation randomly picked from this list accordingly with the values listed in i_alrOrientationProbabilityList.
i_alrOrientationProbabilityList	ARRAY [1... Gc_udiMaxNumberOfOrientations] OF LREAL	List used to define the probabilities related to the random selection of an orientation from i_astOrientationList. The probability of each orientation 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	OrientationProbabilitiesSumInvalid	49	The sum of the orientation probabilities provided by you is zero.
InputParameterInvalid	OrientationProbabilityRange	50	A negative value for one of the probabilities related to the list of possible orientations was provided.
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.
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.

OrientationProbabilitiesSumInvalid

Enumeration name:	OrientationProbabilitiesSumInvalid
Enumeration value:	49
Description:	The sum of the orientation probabilities provided is zero.

Issue	Cause	Solution
The sum of the provided rotation probabilities is zero.	The sum of the values contained in i_alrOrientationProbabilityList must be greater than 0.	Verify that the sum of the provided probabilities is > 0.

OrientationProbabilityRange

Enumeration name:	OrientationProbabilityRange
Enumeration value:	50
Description:	A negative value for one of the probabilities related to the list of possible orientations was provided.

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

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.	Provide a range that respects the following condition: i_stMinPosition.lrX ≤ i_stMaxPosition.lrX

Issue

Cause

Solution

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

The provided X position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrX ≤ i_stMaxPosition.lrX

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.	Provide a range that respects the following condition: i_stMinPosition.lrY ≤ i_stMaxPosition.lrY

Issue

Cause

Solution

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

The provided Y position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrY ≤ i_stMaxPosition.lrY

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.	Provide a range that respects the following condition: i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ

Issue

Cause

Solution

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

The provided Z position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ

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.