FB_RandomPoseGenerator - SetPose (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Define constraints on position and orientation for the generation of a random Cartesian pose.

Description

The method SetPose allows you to define constraints on position and orientation for the generation of a random Cartesian pose.

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

The following is an example of volume including all the possible positions generated by the method:

Interface

Input	Data type	Description
i_stMinPosition	PDL.ST_Vector3D	Minimum position value that a generated pose 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 pose can take. It can be considered as the maximum Cartesian coordinate contained in a volume defined by you.
i_stMinOrientation	PDL.ST_Vector3D	Contains a set of roll, pitch and yaw angles that are the minimum angles that the generated pose can assume for the representation of an orientation.
i_stMaxOrientation	PDL.ST_Vector3D	Contains a set of roll, pitch and yaw angles that are the maximum angles that the generated pose can assume for the representation of an orientation.
i_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation.

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 were successfully loaded.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	OrientationXRange	43	The X rotation range provided as constraint of the random generation is invalid.
InputParameterInvalid	OrientationYRange	44	The Y rotation range provided as constraint of the random generation is invalid.
InputParameterInvalid	OrientationZRange	45	The Z rotation range provided as constraint of the random generation 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.
UnexpectedProgramBehavior	RandomSeedInvalid	39	The random seed value was initialized to an invalid value

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

The constrains were successfully retrieved.

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.

OrientationXRange

Enumeration name:	OrientationXRange
Enumeration value:	43
Description:	The X rotation range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The X rotation range provided as constraint of the random generation is invalid.	The provided X rotation range is invalid.	Provide a range that respects the following condition: i_stMinOrientation.lrX ≤ i_stMaxOrientation.lrX

Issue

Cause

Solution

The X rotation range provided as constraint of the random generation is invalid.

The provided X rotation range is invalid.

Provide a range that respects the following condition:

i_stMinOrientation.lrX ≤ i_stMaxOrientation.lrX

OrientationYRange

Enumeration name:	OrientationYRange
Enumeration value:	44
Description:	The Y rotation range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The Y rotation range provided as constraint of the random generation is invalid.	The provided Y rotation range is invalid.	Provide a range that respects the following condition: i_stMinOrientation.lrY ≤ i_stMaxOrientation.lrY

Issue

Cause

Solution

The Y rotation range provided as constraint of the random generation is invalid.

The provided Y rotation range is invalid.

Provide a range that respects the following condition:

i_stMinOrientation.lrY ≤ i_stMaxOrientation.lrY

OrientationZRange

Enumeration name:	OrientationZRange
Enumeration value:	45
Description:	The Z rotation range provided as constraint of the random generation is invalid.

Issue	Cause	Solution
The Z rotation range provided as constraint of the random generation is invalid.	The provided Z rotation range is invalid.	Provide a range that respects the following condition: i_stMinOrientation.lrZ ≤ i_stMaxOrientation.lrZ

Issue

Cause

Solution

The Z rotation range provided as constraint of the random generation is invalid.

The provided Z rotation range is invalid.

Provide a range that respects the following condition:

i_stMinOrientation.lrZ ≤ i_stMaxOrientation.lrZ

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.	Provide a range that respects the following condition: i_stMinPosition.lrX ≤ i_stMaxPosition.lrX

Issue

Cause

Solution

The X position range provided as constraint of the random generation is invalid.

The provided X position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrX ≤ i_stMaxPosition.lrX

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.	Provide a range that respects the following condition: i_stMinPosition.lrY ≤ i_stMaxPosition.lrY

Issue

Cause

Solution

The Y position range provided as constraint of the random generation is invalid.

The provided Y position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrY ≤ i_stMaxPosition.lrY

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.	Provide a range that respects the following condition: i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ

Issue

Cause

Solution

The Z position range provided as constraint of the random generation is invalid.

The provided Z position range is invalid.

Provide a range that respects the following condition:

i_stMinPosition.lrZ ≤ i_stMaxPosition.lrZ

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.