Gocator API
GoTransform.h
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1 /**
2  * @file GoTransform.h
3  * @brief Declares the GoTransform class.
4  *
5  * @internal
6  * Copyright (C) 2016-2019 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  * @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  */
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
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.