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TCPTraceManager (Object)
IUnknown
|
+---IDispatch
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+---CATBaseUnknown
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+---CATBaseDispatch
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+---AnyObject
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+---TCPTraceManager
Interface representing an accessor to TCP traces object from a product.
Role: This interface is used to retrieve TCP traces from a
product. This product is the assembly node representing the inverse
kinematics assembly.
A TCP trace is the graphical output of a task simulation. This output
is the trajectory path generated by the TCP, defined by lines and points.
Each point represents the location of the TCP at a given time.
The following code snippet can be used to obtain a handle from a
product:
Dim MyRobot As Product
'retrieval of the product
...
'retrieval of the trace manager
Dim objDevice As TCPTraceManager
set objDevice = MyRobot.GetTechnologicalObject("TCPTraceManager")
'activate the trace
objDevice.TCPTraceMode=True
'Get the last path
Dim NbPath As Long
NbPath = objDevice.GetNbPath
If NbPath>0 Then
' retrieval of the last trace
Dim RobotTCPTrace As TCPTrace
Set RobotTCPTrace = objDevice.GetPath(NbPath)
'Export the trace points
RobotTCPTrace.Export("C:\TEMP\DEBUG.xls")
End If
Property Index
-
InitStatus
- Indicates whether the tracing capability must delete previous traces
when the simulation starts.
-
TCPTraceMode
- Indicates if the tracing capability is activ or not.
Method Index
-
GetAttachedOwner
- Retrieves the default attached owner of the trace.
-
GetNbPath
- Get the number of TCP trace.
-
GetPath
- Get the iIndex path(trace)(starting at 1).
-
RemoveAllPath
- Remove all traces from the current resource.
-
RemovePathByIndex
- Remove a specific path based on its position in the list.
-
RemovePathByObject
- Remove a specific trace based on the object.
-
ResetAttachedOwner
- Resets the attached owner of the trace to the world.
-
SetAttachedOwner
- Sets the default attached owner of the trace.
Properties
o Property InitStatus( | ) As boolean |
-
Indicates whether the tracing capability must delete previous traces
when the simulation starts.
- True: previous traces are deleted
- False: previous traces are kept
- Parameters:
-
- oInitStatus
- Boolean. Indicates if the tracing capability is activ or not.
o Property TCPTraceMode( | ) As boolean |
-
Indicates if the tracing capability is activ or not.
- True: tracing capability activated
- False: tracing capability deactivated
- Parameters:
-
- oTCPTraceMode
- Boolean. Indicates if the tracing capability is activ or not.
Methods
-
Retrieves the default attached owner of the trace. By default, the
owner of the trace is the robot assembly node. If the robot is moved,
the trace will follow. However, in some scenarios, the trace might be
drawn related to another product (or even with respect to the world)
like for example when dealing with a workpiece positioner.
- Parameters:
-
- oOwner
- CATIABase. Attached owner of the trace. Output parameter. Returns
nothing if the trace is defined related to the world
o Func GetNbPath( | ) As long |
-
Get the number of TCP trace.
- Parameters:
-
- oNb
- Long. Number of traces. Output parameter.
-
Get the iIndex path(trace)(starting at 1).
- Parameters:
-
- iIndex
- Long. Path/Trace index starting at 1. Input parameter.
- oTCPPath
- DNBIATCPTrace. Pointer on the trace. Output parameter.
-
Remove all traces from the current resource. All traces associated with
the current resource will be removed from the 3D and deleted.
o Sub RemovePathByIndex( | long | iIndex) |
-
Remove a specific path based on its position in the list. The trace
will be removed from the 3D viewer and deleted.
- Parameters:
-
- iIndex
- Long. Position index starting at 1. Must be positiv. Input parameter.
-
Remove a specific trace based on the object. The trace will be removed
from the 3D viewer and deleted.
- Parameters:
-
- TCPPath
- DNBIATCPTrace. Path to be removed.
o Sub ResetAttachedOwner( | ) |
-
Resets the attached owner of the trace to the world. When a new
trace will be created, it will defined with respect to the world.
Remark: this will not change the exported values.
-
Sets the default attached owner of the trace. By default, the owner
of the trace is the robot. When a new trace is created, the attached
owner is used to set it upon the trace.
Remark: set the attached owner will not change the exported values.
- Parameters:
-
- iOwner
- CATIABase. Attached owner of the trace. Input parameter.