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GoTransform.h
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1 /**
2 * @file GoTransform.h
3 * @brief Declares the GoTransform class.
4 *
5 * @internal
6 * Copyright (C) 2016-2022 by LMI Technologies Inc.
7 * Licensed under the MIT License.
8 * Redistributed files must retain the above copyright notice.
9 */
10 #ifndef GO_TRANSFORM_H
11 #define GO_TRANSFORM_H
12
13 #include <GoSdk/GoSdkDef.h>
14
15 /**
16 * @class GoTransform
17 * @extends kObject
18 * @ingroup GoSdk
19 * @brief Represents a sensor transformation.
20 */
21 typedef kObject GoTransform;
22
23 /**
24 * Gets the encoder resolution.
25 *
26 * @public @memberof GoTransform
27 * @version Introduced in firmware 4.0.10.27
28 * @param transform GoTransform object.
29 * @return The encoder resolution in mm/tick.
30 */
31 GoFx(k64f) GoTransform_EncoderResolution(GoTransform transform);
32
33 /**
34 * Sets the encoder resolution.
35 *
36 * @public @memberof GoTransform
37 * @version Introduced in firmware 4.0.10.27
38 * @param transform GoTransform object.
39 * @param value Encoder resolution in mm/tick.
40 * @return Operation status.
41 */
42 GoFx(kStatus) GoTransform_SetEncoderResolution(GoTransform transform, k64f value);
43
44 /**
45 * Gets the travel speed.
46 *
47 * @public @memberof GoTransform
48 * @version Introduced in firmware 4.0.10.27
49 * @param transform GoTransform object.
50 * @return The travel speed in mm/sec.
51 */
52 GoFx(k64f) GoTransform_Speed(GoTransform transform);
53
54 /**
55 * Sets the travel speed.
56 *
57 * @public @memberof GoTransform
58 * @version Introduced in firmware 4.0.10.27
59 * @param transform GoTransform object.
60 * @param value travel speed in mm/sec.
61 * @return Operation status.
62 */
63 GoFx(kStatus) GoTransform_SetSpeed(GoTransform transform, k64f value);
64
65 /**
66 * Gets the X component of the transformation.
67 *
68 * @public @memberof GoTransform
69 * @version Introduced in firmware 4.0.10.27
70 * @param transform GoTransform object.
71 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
72 * @return The transformation X component.
73 */
74 GoFx(k64f) GoTransform_X(GoTransform transform, GoRole role);
75
76 /**
77 * Sets the transformation X component.
78 *
79 * @public @memberof GoTransform
80 * @version Introduced in firmware 4.0.10.27
81 * @param transform GoTransform object.
82 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
83 * @param offset The transformation X component to set.
84 * @return Operation status.
85 */
86 GoFx(kStatus) GoTransform_SetX(GoTransform transform, GoRole role, k64f offset);
87
88 /**
89 * Gets the Y component of the transformation.
90 *
91 * @public @memberof GoTransform
92 * @version Introduced in firmware 4.0.10.27
93 * @param transform GoTransform object.
94 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
95 * @return The transformation Y component.
96 */
97 GoFx(k64f) GoTransform_Y(GoTransform transform, GoRole role);
98
99 /**
100 * Sets the transformation Y component.
101 *
102 * @public @memberof GoTransform
103 * @version Introduced in firmware 4.0.10.27
104 * @param transform GoTransform object.
105 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
106 * @param offset The transformation Y component to set.
107 * @return Operation status.
108 */
109 GoFx(kStatus) GoTransform_SetY(GoTransform transform, GoRole role, k64f offset);
110
111 /**
112 * Gets the Z component of the transformation.
113 *
114 * @public @memberof GoTransform
115 * @version Introduced in firmware 4.0.10.27
116 * @param transform GoTransform object.
117 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
118 * @return The transformation Z component.
119 */
120 GoFx(k64f) GoTransform_Z(GoTransform transform, GoRole role);
121
122 /**
123 * Sets the transformation Z component.
124 *
125 * @public @memberof GoTransform
126 * @version Introduced in firmware 4.0.10.27
127 * @param transform GoTransform object.
128 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
129 * @param offset The transformation Z component to set.
130 * @return Operation status.
131 */
132 GoFx(kStatus) GoTransform_SetZ(GoTransform transform, GoRole role, k64f offset);
133
134 /**
135 * Gets the X-angle of the transformation.
136 *
137 * @public @memberof GoTransform
138 * @version Introduced in firmware 4.0.10.27
139 * @param transform GoTransform object.
140 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
141 * @return The transformation X-angle in degrees
142 */
143 GoFx(k64f) GoTransform_XAngle(GoTransform transform, GoRole role);
144
145 /**
146 * Sets the transformation X-angle.
147 *
148 * @public @memberof GoTransform
149 * @version Introduced in firmware 4.0.10.27
150 * @param transform GoTransform object.
151 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
152 * @param offset The transformation X-angle to set in degrees
153 * @return Operation status.
154 */
155 GoFx(kStatus) GoTransform_SetXAngle(GoTransform transform, GoRole role, k64f offset);
156
157 /**
158 * Gets the Y-angle of the transformation.
159 *
160 * @public @memberof GoTransform
161 * @version Introduced in firmware 4.0.10.27
162 * @param transform GoTransform object.
163 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
164 * @return The transformation Y-angle component in degrees
165 */
166 GoFx(k64f) GoTransform_YAngle(GoTransform transform, GoRole role);
167
168 /**
169 * Sets the transformation Y-angle.
170 *
171 * @public @memberof GoTransform
172 * @version Introduced in firmware 4.0.10.27
173 * @param transform GoTransform object.
174 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
175 * @param offset The transformation Y-angle to set in degrees
176 * @return Operation status.
177 */
178 GoFx(kStatus) GoTransform_SetYAngle(GoTransform transform, GoRole role, k64f offset);
179
180 /**
181 * Gets the Z-angle of the transformation.
182 *
183 * @public @memberof GoTransform
184 * @version Introduced in firmware 4.0.10.27
185 * @param transform GoTransform object.
186 * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
187 * @return The transformation Z-angle component in degrees
188 */
189 GoFx(k64f) GoTransform_ZAngle(GoTransform transform, GoRole role);
190
191 /**
192 * Sets the transformation Z-angle.
193 *
194 * @public @memberof GoTransform
195 * @version Introduced in firmware 4.0.10.27
196 * @param transform GoTransform object.
197 * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
198 * @param offset The transformation Z-angle to set in degrees
199 * @return Operation status.
200 */
201 GoFx(kStatus) GoTransform_SetZAngle(GoTransform transform, GoRole role, k64f offset);
202
203 #include <GoSdk/GoTransform.x.h>
204
205 #endif
GoTransform::GoTransform_SetZAngle
kStatus GoTransform_SetZAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Z-angle.
GoTransform::GoTransform_Y
k64f GoTransform_Y(GoTransform transform, GoRole role)
Gets the Y component of the transformation.
GoTransform::GoTransform_SetYAngle
kStatus GoTransform_SetYAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Y-angle.
GoTransform::GoTransform_SetSpeed
kStatus GoTransform_SetSpeed(GoTransform transform, k64f value)
Sets the travel speed.
GoTransform::GoTransform_ZAngle
k64f GoTransform_ZAngle(GoTransform transform, GoRole role)
Gets the Z-angle of the transformation.
GoRole
Represents a user role. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx)
GoTransform::GoTransform_YAngle
k64f GoTransform_YAngle(GoTransform transform, GoRole role)
Gets the Y-angle of the transformation.
GoSdkDef.h
Essential SDK declarations.
GoTransform::GoTransform_Z
k64f GoTransform_Z(GoTransform transform, GoRole role)
Gets the Z component of the transformation.
GoTransform::GoTransform_EncoderResolution
k64f GoTransform_EncoderResolution(GoTransform transform)
Gets the encoder resolution.
GoTransform::GoTransform_SetZ
kStatus GoTransform_SetZ(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Z component.
kObject
kStatus
GoTransform
Represents a sensor transformation.
k64f
GoTransform::GoTransform_SetX
kStatus GoTransform_SetX(GoTransform transform, GoRole role, k64f offset)
Sets the transformation X component.
GoTransform::GoTransform_SetEncoderResolution
kStatus GoTransform_SetEncoderResolution(GoTransform transform, k64f value)
Sets the encoder resolution.
GoTransform::GoTransform_SetY
kStatus GoTransform_SetY(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Y component.
GoTransform::GoTransform_X
k64f GoTransform_X(GoTransform transform, GoRole role)
Gets the X component of the transformation.
GoTransform::GoTransform_Speed
k64f GoTransform_Speed(GoTransform transform)
Gets the travel speed.
GoTransform::GoTransform_SetXAngle
kStatus GoTransform_SetXAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation X-angle.
GoTransform::GoTransform_XAngle
k64f GoTransform_XAngle(GoTransform transform, GoRole role)
Gets the X-angle of the transformation.