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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) 2016-2021 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  */
32 
33 /**
34  * Sets the encoder resolution.
35  *
36  * WARNING! This operation writes to flash storage.
37  * Review the user manual for implications.
38  *
39  * @public @memberof GoTransform
40  * @version Introduced in firmware 4.0.10.27
41  * @param transform GoTransform object.
42  * @param value Encoder resolution in mm/tick.
43  * @return Operation status.
44  */
46 
47 /**
48  * Gets the travel speed.
49  *
50  * @public @memberof GoTransform
51  * @version Introduced in firmware 4.0.10.27
52  * @param transform GoTransform object.
53  * @return The travel speed in mm/sec.
54  */
55 GoFx(k64f) GoTransform_Speed(GoTransform transform);
56 
57 /**
58  * Sets the travel speed.
59  *
60  * WARNING! This operation writes to flash storage.
61  * Review the user manual for implications.
62  *
63  * @public @memberof GoTransform
64  * @version Introduced in firmware 4.0.10.27
65  * @param transform GoTransform object.
66  * @param value travel speed in mm/sec.
67  * @return Operation status.
68  */
69 GoFx(kStatus) GoTransform_SetSpeed(GoTransform transform, k64f value);
70 
71 /**
72  * Gets the X component of the transformation.
73  *
74  * @public @memberof GoTransform
75  * @version Introduced in firmware 4.0.10.27
76  * @param transform GoTransform object.
77  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
78  * @return The transformation X component.
79  */
80 GoFx(k64f) GoTransform_X(GoTransform transform, GoRole role);
81 
82 /**
83  * Sets the transformation X component.
84  *
85  * WARNING! This operation writes to flash storage.
86  * Review the user manual for implications.
87  *
88  * @public @memberof GoTransform
89  * @version Introduced in firmware 4.0.10.27
90  * @param transform GoTransform object.
91  * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
92  * @param offset The transformation X component to set.
93  * @return Operation status.
94  */
95 GoFx(kStatus) GoTransform_SetX(GoTransform transform, GoRole role, k64f offset);
96 
97 /**
98  * Gets the Y component of the transformation.
99  *
100  * @public @memberof GoTransform
101  * @version Introduced in firmware 4.0.10.27
102  * @param transform GoTransform object.
103  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
104  * @return The transformation Y component.
105  */
106 GoFx(k64f) GoTransform_Y(GoTransform transform, GoRole role);
107 
108 /**
109  * Sets the transformation Y component.
110  *
111  * WARNING! This operation writes to flash storage.
112  * Review the user manual for implications.
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 apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
118  * @param offset The transformation Y component to set.
119  * @return Operation status.
120  */
121 GoFx(kStatus) GoTransform_SetY(GoTransform transform, GoRole role, k64f offset);
122 
123 /**
124  * Gets the Z component of the transformation.
125  *
126  * @public @memberof GoTransform
127  * @version Introduced in firmware 4.0.10.27
128  * @param transform GoTransform object.
129  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
130  * @return The transformation Z component.
131  */
132 GoFx(k64f) GoTransform_Z(GoTransform transform, GoRole role);
133 
134 /**
135  * Sets the transformation Z component.
136  *
137  * WARNING! This operation writes to flash storage.
138  * Review the user manual for implications.
139  *
140  * @public @memberof GoTransform
141  * @version Introduced in firmware 4.0.10.27
142  * @param transform GoTransform object.
143  * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
144  * @param offset The transformation Z component to set.
145  * @return Operation status.
146  */
147 GoFx(kStatus) GoTransform_SetZ(GoTransform transform, GoRole role, k64f offset);
148 
149 /**
150  * Gets the X-angle of the transformation.
151  *
152  * @public @memberof GoTransform
153  * @version Introduced in firmware 4.0.10.27
154  * @param transform GoTransform object.
155  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
156  * @return The transformation X-angle in degrees
157  */
158 GoFx(k64f) GoTransform_XAngle(GoTransform transform, GoRole role);
159 
160 /**
161  * Sets the transformation X-angle.
162  *
163  * WARNING! This operation writes to flash storage.
164  * Review the user manual for implications.
165  *
166  * @public @memberof GoTransform
167  * @version Introduced in firmware 4.0.10.27
168  * @param transform GoTransform object.
169  * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
170  * @param offset The transformation X-angle to set in degrees
171  * @return Operation status.
172  */
173 GoFx(kStatus) GoTransform_SetXAngle(GoTransform transform, GoRole role, k64f offset);
174 
175 /**
176  * Gets the Y-angle of the transformation.
177  *
178  * @public @memberof GoTransform
179  * @version Introduced in firmware 4.0.10.27
180  * @param transform GoTransform object.
181  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
182  * @return The transformation Y-angle component in degrees
183  */
184 GoFx(k64f) GoTransform_YAngle(GoTransform transform, GoRole role);
185 
186 /**
187  * Sets the transformation Y-angle.
188  *
189  * WARNING! This operation writes to flash storage.
190  * Review the user manual for implications.
191  *
192  * @public @memberof GoTransform
193  * @version Introduced in firmware 4.0.10.27
194  * @param transform GoTransform object.
195  * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
196  * @param offset The transformation Y-angle to set in degrees
197  * @return Operation status.
198  */
199 GoFx(kStatus) GoTransform_SetYAngle(GoTransform transform, GoRole role, k64f offset);
200 
201 /**
202  * Gets the Z-angle of the transformation.
203  *
204  * @public @memberof GoTransform
205  * @version Introduced in firmware 4.0.10.27
206  * @param transform GoTransform object.
207  * @param role Determines which device to retrieve the value from. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
208  * @return The transformation Z-angle component in degrees
209  */
210 GoFx(k64f) GoTransform_ZAngle(GoTransform transform, GoRole role);
211 
212 /**
213  * Sets the transformation Z-angle.
214  *
215  * WARNING! This operation writes to flash storage.
216  * Review the user manual for implications.
217  *
218  * @public @memberof GoTransform
219  * @version Introduced in firmware 4.0.10.27
220  * @param transform GoTransform object.
221  * @param role Determines which device to apply changes to. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx). See GoRole for more details.
222  * @param offset The transformation Z-angle to set in degrees
223  * @return Operation status.
224  */
225 GoFx(kStatus) GoTransform_SetZAngle(GoTransform transform, GoRole role, k64f offset);
226 
227 #include <GoSdk/GoTransform.x.h>
228 
229 #endif
kStatus GoTransform_SetZAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Z-angle.
k64f GoTransform_Y(GoTransform transform, GoRole role)
Gets the Y component of the transformation.
kStatus GoTransform_SetYAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Y-angle.
kStatus GoTransform_SetSpeed(GoTransform transform, k64f value)
Sets the travel speed.
k64f GoTransform_ZAngle(GoTransform transform, GoRole role)
Gets the Z-angle of the transformation.
Represents a user role. Use GO_ROLE_MAIN or GOROLE_BUDDYIDX(buddyidx)
k64f GoTransform_YAngle(GoTransform transform, GoRole role)
Gets the Y-angle of the transformation.
Essential SDK declarations.
k64f GoTransform_Z(GoTransform transform, GoRole role)
Gets the Z component of the transformation.
k64f GoTransform_EncoderResolution(GoTransform transform)
Gets the encoder resolution.
kStatus GoTransform_SetZ(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Z component.
Represents a sensor transformation.
kStatus GoTransform_SetX(GoTransform transform, GoRole role, k64f offset)
Sets the transformation X component.
kStatus GoTransform_SetEncoderResolution(GoTransform transform, k64f value)
Sets the encoder resolution.
kStatus GoTransform_SetY(GoTransform transform, GoRole role, k64f offset)
Sets the transformation Y component.
k64f GoTransform_X(GoTransform transform, GoRole role)
Gets the X component of the transformation.
k64f GoTransform_Speed(GoTransform transform)
Gets the travel speed.
kStatus GoTransform_SetXAngle(GoTransform transform, GoRole role, k64f offset)
Sets the transformation X-angle.
k64f GoTransform_XAngle(GoTransform transform, GoRole role)
Gets the X-angle of the transformation.