FB_RandomTargetsGenerator - SetTargetsInPlaneRotationList (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Define a set of constraints for the generation of random targets.

Description

The method SetTargetsInPlaneRotationList allows you to define a set of constraints for the generation of random targets contained in a selected working plane.

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

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

The following is an example of target generation in a selected plane:

1 Collision circle to determine overlaps

Interface

Input	Data type	Description
i_udiNumberOfTargets	UDINT	Number of targets to be generated by the method.
i_lrTargetOverlapRadius	LREAL	Radius of a circle around each target. The targets are generated so that there are no overlaps between the circles. This value must be either 0 or positive. If value = 0 the collision verification is ignored.
i_udiMaxOverlapCheckIterations	UDINT	The method attempts i_udiMaxOverlapCheckIterations times to generate i_udiNumberOfTargets targets without overlaps. After this number of iterations is exceeded, an error message is generated.
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 target 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 target can take. It can be considered as the maximum Cartesian coordinate contained in a volume defined by you.
i_alrRotationList	ARRAY [1... Gc_uiMaxNumberOfRotations] OF LREAL	List of rotations. On each call of the method Generate(), 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 all the listed values.
i_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation.
i_alrTargetTypeProbabilityList	ARRAY [1...Gc_uiMaxNumberOfTargetTypes] OF LREAL	Every index of this array is linked to a specific target type and every element contains a value that affects the probability that a target with a certain target type is randomly generated. The probability of each target type is evaluated as the ratio between the value assigned to each element of the array and the total sum of the listed values. Example: A value in the field [1] of the array is linked to the generation of targets of type 1, field [2] is linked to type 2, and so on.

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	NumberOfTargetsRange	54	Number of targets out of range.
InputParameterInvalid	MaxOverlapCheckIterationsRange	55	Maximum number of iterations out of range.
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 by you is zero.
InputParameterInvalid	RotationProbabilityRange	48	A negative value for one of the probabilities related to the list of possible rotations was provided.
InputParameterInvalid	TargetOverlapRadiusRange	53	A negative radius value was provided.
InputParameterInvalid	TargetTypeProbabilitiesSumInvalid	61	The sum of the probabilities is zero.
InputParameterInvalid	TargetTypeProbabilityRange	60	The value of one of the probabilities is negative.
UnexpectedProgramBehavior	RandomSeedInvalid	39	The random seed value was initialized to an invalid value

MaxOverlapCheckIterationsRange

Enumeration name:	MaxOverlapCheckIterationsRange
Enumeration value:	55
Description:	Maximum number of iterations out of range.

Issue	Cause	Solution
Provided value out of range.	The value of i_udiMaxOverlapCheckIterations cannot be less than i_udiNumberOfTargets.	oProvide a value so that i_udiMaxOverlapCheckIterations ≥ i_udiNumberOfTargets oA first attempt value could be i_udiMaxOverlapCheckIterations ≥ 2 * i_udiNumberOfTargets. But this can vary, depending on the other constraints.

Issue

Cause

Solution

Provided value out of range.

The value of i_udiMaxOverlapCheckIterations cannot be less than i_udiNumberOfTargets.

oProvide a value so that i_udiMaxOverlapCheckIterations ≥ i_udiNumberOfTargets

oA first attempt value could be i_udiMaxOverlapCheckIterations ≥ 2 * i_udiNumberOfTargets. But this can vary, depending on the other constraints.

NumberOfTargetsRange

Enumeration name:	NumberOfTargetsRange
Enumeration value:	54
Description:	Number of targets out of range.

Issue	Cause	Solution
Provided value out of range.	The value provided by you is either minor that 1 or greater than Gc_udiMaxNumberOfGeneratedTargets (for example, the maximum size of the list).	Provide a value within the valid range.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The parameters were successfully set.

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 Refer to, Robotic Library - ET_WorkingPlane.

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

Refer to, Robotic Library - ET_WorkingPlane.

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 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.

TargetOverlapRadiusRange

Enumeration name:	TargetOverlapRadiusRange
Enumeration value:	53
Description:	A negative radius value was provided.

Issue	Cause	Solution
A negative or zero value was provided as input.	The value of the radius must be strictly positive.	Verify that i_lrTargetOverlapRadius > 0.

TargetTypeProbabilitiesSumInvalid

Enumeration name:	TargetTypeProbabilitiesSumInvalid
Enumeration value:	61
Description:	The sum of probabilities is zero.

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

TargetTypeProbabilityRange

Enumeration name:	TargetTypeProbabilityRange
Enumeration value:	60
Description:	The value of one of the probabilities is negative.

Issue	Cause	Solution
The value of one of the probabilities is negative.	One of the probabilities inside i_alrTargetTypeProbabilityList has a negative value.	Verify that every probability has either a value of 0 or a positive value.