FB_RandomPoseGenerator - GetPoseOrientationList (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Retrieve previously set constraints.

Description

The method GetPoseOrientationList allows you to retrieve previously set constraints.

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_stMinPosition	PDL.ST_Vector3D	Minimum position value that a generated pose can take.
q_stMaxPosition	PDL.ST_Vector3D	Maximum position value that a generated pose can take.
q_astOrientationList	ARRAY [1...Gc_udiMaxNumberOfOrientations] OF PDL.ST_Vector3D	List of orientations expressed as roll, pitch, and yaw angles. The resulting Cartesian pose will have an orientation randomly picked from this list accordingly with the values listed in i_alrOrientationProbabilityList.
q_alrOrientationProbabilityList	ARRAY [1... Gc_udiMaxNumberOfOrientations] OF LREAL	List of values used to describe the probabilities related to the random selection of a orientation from i_astOrientationList.
q_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
ExecutionAborted	RandomPoseTypeNotConfigured	52	The selected random pose type has not been configured.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

The set of constrains were successfully configured.

RandomPoseTypeNotConfigured

Enumeration name:	RandomPoseTypeNotConfigured
Enumeration value:	52
Description:	The constraints for the selected random pose type are not configured.

Issue	Cause	Solution
The selected random pose type has not been configured.	The constrains for the selected random pose type are not configured.	Ensure to configure the required random generation mode with the proper SetMethod before using it with this method.