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Motion/core/extension i_kin_cfg.h compile error!

KangZhihao
Member

Motion/core/extension i_kin_cfg.h compile error!

Because I want to use C++ program to get and set kinmatics parameter. I can see it provides class IKinCfg in i_kin_cfg.h file.

In this class, there are functions to edit or get the kinmatics parameter,like below:

KangZhihao_0-1666766955802.png

But when I include this i_kin_cfg.h file to my program, compile error shows that file i_mcs.h has an error which i_kin_cfg.h includes. And in i_mcs.h file, it includes a file named "motion/math/defines/axis_trafo_defs.h" which never exists in SDK include folder or anywhere else.

Below is the .h file provided by sample sdk:

KangZhihao_1-1666767065804.png

KangZhihao_2-1666767161890.png

 

So how to fix this problem?

Tags (2)
4 REPLIES 4
CodeShepherd
Community Moderator

Re: Motion/core/extension i_kin_cfg.h compile error!

Sorry for the late reply. Is this still an open topic? Could you tell us which version of the SDK you are using?

KangZhihao
Member

Re: Motion/core/extension i_kin_cfg.h compile error!

Yes, it's still a issue. I am using 1.14.3 SDK.  And Nick had told me in another online meeting that he understood the topic and is connecting the motion R&D department for the solutions, no result yet.

nickH
Occasional Contributor

Re: Motion/core/extension i_kin_cfg.h compile error!

I got some news for you. The interface in the i_kin_cfg.h is only for the internal use for motion app itself. So it can't be used by your RT-Bundle. 

If you want to access kinematic parameters you can use the Data Layer interface of the motion app instead. You can find the interface for the kinematics configuration at this Data Layer path: "motion/kin/<name of your kinematic>/cfg" (see my screenshot). This interface is documented here

nickH_0-1673352636843.png

 

KangZhihao
Member

Re: Motion/core/extension i_kin_cfg.h compile error!

Actually, I have tried the single axis parameter reading and writing by the "motion/core/extension/i_axs_cfg.h" which is also provided in the SDK sample include file. Like below:

KangZhihao_1-1673410506122.png

And the single axis parameter operation is normally achieved without any error. So I though the "motion/core/extension i_kin_cfg.h" will support the similar function like the  "motion/core/extension/i_axs_cfg.h". In this way, it will be easier to use and faster than the interface in datalayer.

However, if the "i_kin_cfg.h" is only for the internal use, I have no choice  but to operate the kin parameter by the interface in datalayer.

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