IF_EntitiesHandler - CalcTargetGeneratorPoseInTrackingSystem (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Transform a Cartesian pose referred to a target generator.

Description

Transform a Cartesian pose referred to a target generator coordinate system to a Cartesian pose referred to a TrackingSystem coordinate system.

Access: PUBLIC

Interface

Input	Data type	Description
i_etTargetGeneratorId	ET_SystemEntity	An ID used to unequivocally identify a target generator. Admissible values are in the range SERT.ET_SystemEntity.TargetGenerator1... SERT.ET_SystemEntity.TargetGenerator30.
i_stTargetGeneratorPose	ST_CartesianPose	A Cartesian pose referred to the coordinate system identified by i_etTargetGeneratorId.
i_etTrackingId	ROB.ET_CoordinateSystem	An ID used to unequivocally identify a tracking system. Admissible values are in the range ROB.ET_CoordinateSystem.Tracking1 … ROB.ET_CoordinateSystem.Tracking30.

Input

Data type

Description

i_etTargetGeneratorId

ET_SystemEntity

An ID used to unequivocally identify a target generator.

Admissible values are in the range SERT.ET_SystemEntity.TargetGenerator1... SERT.ET_SystemEntity.TargetGenerator30.

i_stTargetGeneratorPose

ST_CartesianPose

A Cartesian pose referred to the coordinate system identified by i_etTargetGeneratorId.

i_etTrackingId

ROB.ET_CoordinateSystem

An ID used to unequivocally identify a tracking system. Admissible values are in the range ROB.ET_CoordinateSystem.Tracking1 … ROB.ET_CoordinateSystem.Tracking30.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to 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 additional information on the diagnostic state.

Return Value

Data type	Description
ST_CartesianPose	Refer to ST_CartesianPose.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	OK	0	Ok
InputParameterInvalid	TargetGeneratorIdInvalid	171	A provided target generator ID is invalid.
InputParameterInvalid	TargetGeneratorIdUnknown	174	A provided target generator type is invalid.
InputParameterInvalid	TrackingIdInvalid	104	The tracking ID is invalid.
InputParameterInvalid	TrackingIdUnknown	131	A provided tracking ID is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

TargetGeneratorIdInvalid

Enumeration name:	TargetGeneratorIdInvalid
Enumeration value:	171
Description:	A provided target generator ID is invalid.

Issue	Cause	Solution
A provided target generator ID has an invalid value.	i_etTargetGeneratorId contains an invalid value.	Ensure that the conveyor ID is in the range ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator 10.

TargetGeneratorIdUnknown

Enumeration name:	TargetGeneratorIdInvalid
Enumeration value:	174
Description:	A provided target generator type is invalid.

Issue	Cause	Solution
A provided target generator ID is invalid.	i_etTargetGeneratorId contains an indeterminable target generator system ID.	Ensure that the value of i_etTargetGeneratorId refers to a previously configured target generator.

TrackingIdInvalid

Enumeration name:	TrackingIdInvalid
Enumeration value:	104
Description:	The tracking ID is invalid.

Issue	Cause	Solution
The tracking ID is invalid.	i_etTrackingId contains an invalid value.	Ensure that the Id is in the range ROB.ET_CoordinateSystem.Tracking1 ... ROB.ET_CoordinateSystem.Tracking30.

TrackingIdUnknown

Enumeration name:	TrackingIdUnknown
Enumeration value:	131
Description:	A provided tracking ID is invalid.

Issue	Cause	Solution
A provided tracking ID is invalid.	i_etTrackingId contains an indeterminable tracking system ID.	Ensure that the value of i_etTrackingId refers to a previously configured tracking system.