FB_RandomTargetsGenerator - SetTargetMatrixInPlaneRotationList (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

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

Description

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

The rotation of the targets is randomly selected from a list provided by you.

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

The following is an example of matrix generation of targets:

Targets generation order, according to the selected working plane:

Targets generation order, according to the selected working plane and the value of i_stMatrixElementsStep:

Example

i_alrRotationList[1] := 90.0;
i_alrRorationList[2] := 180.0;
i_alrRotationProbabilityList[1] := 3.5;
i_alrRotationProbabilityList[2] := 1.5;

In 1.5/5 (30%) of the cases, a rotation value of 90.0 is used.
In 3.5/5 (70%) of the cases, a rotation value of 180.0 is used.

Interface

Input	Data type	Description
i_udiNumberOfRows	UDINT	Number of rows of the matrix of targets.
i_udiNumberOfColumns	UDINT	Number of columns of the matrix of targets.
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_stMatrixOriginPosition	PDL.ST_Vector3D	Position of the matrix origin. The targets are generated starting from this position. It must be contained in the selected working plane.
i_stMatrixElementStep	PDL.ST_Vector3D	Position steps along the X, Y and Z axes, used for the generation of the positions in the matrix. The value provided here must be compliant with the selected working plane.
i_alrRotationList	ARRAY [1... Gc_uiMaxNumberOfRotations] OF LREAL	List of rotations. On each call of the method, a rotation value is selected according to the probabilities 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 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	The parameters was successfully set.
InputParameterInvalid	NumberOfColumnsRange	63	The number of target columns is out of range.
InputParameterInvalid	NumberOfRowsRange	62	The number of target rows is out of range.
InputParameterInvalid	NumberOfTargetsRange	54	Number of targets out of range.
InputParameterInvalid	MatrixElementStepXRange	57	Invalid value of the X position step.
InputParameterInvalid	MatrixElementStepYRange	58	Invalid value of the Y position step.
InputParameterInvalid	MatrixElementStepZRange	59	Invalid value of the Z position step.
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	49	The sum of the orientation 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	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

NumberOfColumnsRange

Enumeration name:	NumberOfColumnsRange
Enumeration value:	63
Description:	The number of target columns is out of range.

Issue	Cause	Solution
The number of target columns is out of range.	The number of columns provided as input is outside the range [1, Gc_udiMaxNumberOfGeneratedTargets].	Verify that the value of the number of columns is within a proper range.

NumberOfRowsRange

Enumeration name:	NumberOfRowsRange
Enumeration value:	62
Description:	The number of target rows is out of range.

Issue	Cause	Solution
The number of target rows is out of range.	The number of rows provided as input is outside the range [1, Gc_udiMaxNumberOfGeneratedTargets].	Verify that the value of the number of rows is within a proper range.

NumberOfTargetsRange

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

Issue	Cause	Solution
Provided value out of range.	The target of i_udiNumberOfRows and i_udiNumberOfColumns is bigger than Gc_udiMaxNumberOfGeneratedTargets.	Verify that i_udiNumberOfRows * i_udiNumberOfColumns ≤ Gc_udiMaxNumberOfGeneratedTargets.

MatrixElementStepXRange

Enumeration name:	MatrixElementStepXRange
Enumeration value:	57
Description:	Invalid value of the X position step.

Issue	Cause	Solution
Invalid value of the X position step.	The X position step of the matrix elements is invalid.	Verify that i_stMatrixElementsStep.lrX is compliant with the selected working plane.

MatrixElementStepYRange

Enumeration name:	MatrixElementStepYRange
Enumeration value:	58
Description:	Invalid value of the Y position step.

Issue	Cause	Solution
Invalid value of the Y position step.	The Y position step of the matrix elements is invalid.	Verify that i_stMatrixElementsStep.lrY is compliant with the selected working plane.

MatrixElementStepZRange

Enumeration name:	MatrixElementStepZRange
Enumeration value:	59
Description:	Invalid value of the Z position step.

Issue	Cause	Solution
Invalid value of the Z position step.	The Z position step of the matrix elements is invalid.	Verify that i_stMatrixElementsStep.lrZ is compliant with the selected working plane.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

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: ROB.ET_WorkingPlane.XY ROB.ET_WorkingPlane.XZ ROB.ET_WorkingPlane.YZ Refer to, Robotic Library Guide - 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:

ROB.ET_WorkingPlane.XY
ROB.ET_WorkingPlane.XZ
ROB.ET_WorkingPlane.YZ

Refer to, Robotic Library Guide - 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 X position of the matrix origin is invalid.	Verify that i_stMatrixOriginPosition.lrX is contained in the selected working 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 Y position of the matrix origin is invalid.	Verify that i_stMatrixOriginPosition.lrY is contained in the selected working 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 Z position of the matrix origin is invalid.	Verify that i_stMatrixOriginPosition.lrZ is contained in the selected working 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 orientation probabilities provided by you is zero.	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 greater than 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 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 either a zero or a positive value.

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.