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Get Simulator Reference VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Simulator VIs

Requires: Robotics Module

Returns a reference to a component defined in the manifest file for the current simulation instance. You must manually select the polymorphic instance to use.

Note  Remove this VI from simulation VIs before you deploy them to real hardware targets.

To identify the component you want to reference, you must find and specify the component ID.

Examples

Use the pull-down menu to select an instance of this VI.

Get World Reference

Returns a reference to the simulation environment, which you can use with the World properties and methods.

error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
world ref returns the reference to the simulation environment that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get 3D Visual Scene Reference

Returns a reference to the 3D scene in which the simulation scene displays, which you can use with the SceneObject properties and methods.

error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
scene ref returns the reference to the 3D scene that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Robot Component Geometry Reference

Returns a reference to a component on a robot in the current simulation instance, which you can use with the Geom properties and methods. This instance returns geometry references only if the component is a simple geometry, such as box, sphere, or cylinder.

robot component ID identifies the component you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
component ID specifies the ID assigned to the component whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
component geometry ref returns the reference to the component that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Robot Body Reference

Returns a reference to the root component of a simulated robot in the current simulation instance, which you can use with the Body properties and methods. You can define the root component by setting the root component in the Robot Simulation Model Builder.

robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
robot body ref returns the reference to the root component that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Sensor Reference

Returns a reference to a sensor on a robot in the current simulation instance, which you can use with the Sensor properties.

device ID identifies the sensor you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
sensor/actuator ID specifies the ID assigned to the sensor or actuator whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
sensor ref returns the reference to the sensor that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Obstacle Geometry Reference

Returns a reference to an obstacle in the current simulation instance, which you can use with the Geom properties and methods. This instance returns geometry references only if the component is a simple geometry, such as box, sphere, or cylinder.

obstacle ID specifies the ID assigned to an obstacle in the simulator scene.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
obstacle geometry ref returns the reference to the obstacle that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Robot Component Reference

Returns a reference to a component in the current simulation instance, which you can use with the Body properties and methods.

robot component ID identifies the component you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
component ID specifies the ID assigned to the component whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
component ref returns the reference to the component that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Obstacle Reference

Returns a reference to an obstacle in the current simulation instance, which you can use with the Body properties and methods.

obstacle ID specifies the ID assigned to an obstacle in the simulator scene.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
obstacle ref returns the reference to the obstacle that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Joint Reference (Ball)

Returns a reference to a ball joint in the current simulation instance, which you can use with the Joint properties.

robot joint ID identifies the joint you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
joint ID specifies the ID assigned to the joint whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
ball joint ref returns the reference to the ball joint that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Joint Reference (Fixed)

Returns a reference to a fixed joint in the current simulation instance, which you can use with the Joint properties and methods.

robot joint ID identifies the joint you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
joint ID specifies the ID assigned to the joint whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
fixed joint ref returns the reference to the fixed joint that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Joint Reference (Hinge)

Returns a reference to a hinge joint in the current simulation instance, which you can use with the Joint properties and methods.

robot joint ID identifies the joint you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
joint ID specifies the ID assigned to the joint whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
hinge joint ref returns the reference to the hinge joint that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Get Joint Reference (Slider)

Returns a reference to a slider joint in the current simulation instance, which you can use with the Joint properties and methods.

robot joint ID identifies the joint you want to reference.
robot ID specifies the ID assigned to a simulated robot in the current simulation instance.
joint ID specifies the ID assigned to the joint whose reference you want to return.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
slider joint ref returns the reference to the slider joint that you can wire to a Property Node or Invoke Node.
error out contains error information. This output provides standard error out functionality.

Examples

Refer to the following VIs for examples of using the Get Simulator Reference VI:

  • labview\examples\robotics\Simulator\iRobot Create\Simulated iRobot.lvproj
  • labview\examples\robotics\Simulator\Robot Balance\Robot Balance.lvproj

 

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