Struct Orient
Represents a rapid data of type orient.
Implements
Namespace: ABB.Robotics.Controllers.RapidDomain
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public struct Orient : IRapidDataProperties
Empty
Gets an empty orient object.
Declaration
public static readonly Orient Empty { get; }Property Value
| Type | Description |
|---|---|
| Orient |
Q1
Gets or sets the value of Q1.
Declaration
public double Q1 { get; set; }Property Value
| Type | Description |
|---|---|
| System.Double | A double that represents the Q1 value. |
Q2
Gets or sets the value of Q2.
Declaration
public double Q2 { get; set; }Property Value
| Type | Description |
|---|---|
| System.Double | A double that represents the Q2 value. |
Q3
Gets or sets the value of Q3.
Declaration
public double Q3 { get; set; }Property Value
| Type | Description |
|---|---|
| System.Double | A double that represents the Q3 value. |
Q4
Gets or sets the value of Q4.
Declaration
public double Q4 { get; set; }Property Value
| Type | Description |
|---|---|
| System.Double | A double that represents the Q4 value. |
Methods
Fill(DataNode)
Fills the RapidData object from the specified parser root. This is Obsolete, use Fill2(DataNode) instead.
Declaration
[Obsolete("Use Fill2(DataNode) instead.")]
public void Fill(DataNode root)Parameters
| Type | Name | Description |
|---|---|---|
| DataNode | root | Root of data. |
Fill(String)
Fills the structure with the new value. This is Obsolete, use Fill2(String) instead.
Declaration
[Obsolete("Use Fill2(string) instead.")]
public void Fill(string value)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Value to fill structure with. |
Fill2(DataNode)
Fills the RapidData object from the specified parser root.
Declaration
public void Fill2(DataNode root)Parameters
| Type | Name | Description |
|---|---|---|
| DataNode | root | Root of data. |
Exceptions
| Type | Condition |
|---|---|
| RapidDataFormatException | root does not represent the Orient data type. |
Fill2(String)
Fills the structure with the new value.
Declaration
public void Fill2(string value)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Value to fill structure with. |
Exceptions
| Type | Condition |
|---|---|
| RapidDataFormatException | value does not represent the Orient data type. |
FillFromEulerAngles(Double, Double, Double)
Fills the struct with the quaternian values calculated from Euler angles.
Declaration
public void FillFromEulerAngles(double x, double y, double z)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | x | X angle. |
| System.Double | y | Y angle. |
| System.Double | z | Z angle. |
Remarks
A rotation defined with z,y,x Euler angles is expressed as quaternion.
FillFromString(String)
Fills the struct with a valid rapid string representation. This is Obsolete, use FillFromString2(String) instead.
Declaration
[Obsolete("Use FillFromString2 instead.")]
public void FillFromString(string newValue)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | newValue | The new value stored by the struct. |
FillFromString2(String)
Fills the struct with a valid rapid string representation.
Declaration
public void FillFromString2(string newValue)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | newValue | The new value stored by the struct. |
Exceptions
| Type | Condition |
|---|---|
| RapidDataFormatException | newValue does not represent the Orient data type. |
GetDataType(Controller)
Gets the datatype object for this type from the supplied controller.
Declaration
public static RapidDataType GetDataType(Controller controller)Parameters
| Type | Name | Description |
|---|---|---|
| Controller | controller | Controller containing the datatype. |
Returns
| Type | Description |
|---|---|
| RapidDataType | A valid datatype object if it exist on the controller. |
Parse(String)
Parses the string into a Orient object.
Declaration
public static Orient Parse(string value)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Value to parse into object. |
Returns
| Type | Description |
|---|---|
| Orient | The Orient object. |
ToEulerAngles(out Double, out Double, out Double)
Returns the eular angles of the quaternion stored in the struct.
Declaration
public void ToEulerAngles(out double x, out double y, out double z)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | x | |
| System.Double | y | |
| System.Double | z |
ToString()
Returns the string representation of the orient rapid data.
Declaration
public override string ToString()Returns
| Type | Description |
|---|---|
| System.String | The string representation with the value of the orient rapid data. |
Overrides
ToStructure()
Converts the datastructure into a DataNode tree.
Declaration
public DataNode ToStructure()Returns
| Type | Description |
|---|---|
| DataNode | The root of the corresponding data tree. |
TryParse(String, out Orient)
Attempts to parse the string into object.
Declaration
public static bool TryParse(string value, out Orient result)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Value to parse. |
| Orient | result | The result of the parse operation. |
Returns
| Type | Description |
|---|---|
| System.Boolean | True if parse succeeded. |