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TCPTraceManager (Object)

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
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
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


o Func GetAttachedOwner() As
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
Get the number of TCP trace.
Parameters:
oNb
Long. Number of traces. Output parameter.
o Func GetPath( iIndex) As
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.
o Sub RemoveAllPath()
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( 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.
o Sub RemovePathByObject( TCPPath)
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.
o Sub SetAttachedOwner( iOwner)
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.

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