FB_RandomTargetsGenerator - GetTargetsInPlaneRotationList (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

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

Description

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

Interface

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.
q_udiNumberOfTargets	UDINT	Number of targets to be generated by the method.
q_lrTargetOverlapRadius	LREAL	Radius of a circle defined around each target. The targets are generated so that the circles do not overlap. This value must be either 0 or positive. If the value = 0, the collision verification is ignored.
q_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.
q_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 the vector normal to the plane.
q_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.
q_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.
q_alrRotationList	ARRAY [1... Gc_uiMaxNumberOfRotations] OF LREAL	List of rotations. On each call of the method, a rotation value is selected in accordance with the probabilities listed in i_alrRotationProbabilityList.
q_alrRotationProbabilityList	ARRAY [1... Gc_uiMaxNumberOfRotations] OF LREAL	A list of values used to describe the probabilities related to the random selection of a rotation from i_alrRotationList.
q_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation.
q_alrTargetTypeProbabilityList	ARRAY [1...Gc_uiMaxNumberOfTargetTypes] OF LREAL	List of values to describe the probabilities related to the random selection of a target type from i_alrTargetProbabilityList.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	The parameters were successfully loaded.
ExecutionAborted	RandomTargetsTypeNotConfigured	64	The desired target generation type was not configured.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The parameters was successfully loaded.

RandomTargetsTypeNotConfigured

Enumeration name:	RandomTargetsTypeNotConfigured
Enumeration value:	64
Description:	The desired target generation type was not configured.

Issue	Cause	Solution
Target generation type not configured.	The selected random target generation type was not configured.	Ensure to configure the required random target generation type with the method SetTargetsInPlaneRotationList before calling the GetTargetsInPlaneRotationList method.