Struct Orient

Represents a rapid data of type orient.

Implements

IRapidData

Namespace: ABB.Robotics.Controllers.RapidDomain

Assembly: ABB.Robotics.Controllers.PC.dll

Syntax

public struct Orient : IRapidData

Properties

Empty

Gets an empty orient object.

Declaration

public static 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
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
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
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
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 This is Obsolete, use Fill2(DataNode) instead.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 This is Obsolete, use Fill2(string) instead.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
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
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
double	x	X angle.
double	y	Y angle.
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
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
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
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
double	x
double	y
double	z

ToString()

Returns the string representation of the orient rapid data.

Declaration

public override string ToString()

Returns

Type	Description
string	The string representation with the value of the orient rapid data.

Overrides

System.ValueType.ToString()

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
string	value	Value to parse.
Orient	result	The result of the parse operation.

Returns

Type	Description
bool	True if parse succeeded.

Implements

IRapidData