Struct ConfigurationData

Represents information about the robot arm configuration, to be used when reaching a target. Given a tool and a target is is usually possible for the robot to reach it using different set of axes angles. This structure has a corresponding RAPID data type called confdata. The ConfigurationData is used to unambigously denote one of a set of possible robot arm configurations. It is done by specifying in which quadrant, four of the robot axes, should be in. It is not necessecary to specify this value for all axes. Depending on the robot model, the axes used to denote configuration, and the interpretation of the configuration can vary. Please refer to the RAPID Reference Manual.

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public struct ConfigurationData

Properties

Cf1

The quadrant of axis 1.

Declaration

public int Cf1 { get; set; }

Property Value

Type	Description
int	An integer specifying the quadrant of axis 1.

Cf4

The quadrant of axis 4.

Declaration

public int Cf4 { get; set; }

Property Value

Type	Description
int	An integer specifying the quadrant of axis 4.

Cf6

The quadrant of axis 6.

Declaration

public int Cf6 { get; set; }

Property Value

Type	Description
int	An integer specifying the quadrant of axis 6.

Cfx

The quadrant of an axis that is not axis 1,4 or 6. Its usage depends on the robot model. For many robot models this value is not used.

Declaration

public int Cfx { get; set; }

Property Value

Type	Description
int	An integer specifying the quadrant of an axis that is not axis 1,4 or 6. Its usage depends on the robot model. For many robot models this value us not used. Please refer to the RAPID documentation.

CompareCfg

Gets an IEqualityComparer<T> that compares two ConfigurationData by quadrant values only.

Declaration

public static IEqualityComparer<ConfigurationData> CompareCfg { get; }

Property Value

Type	Description
IEqualityComparer<ConfigurationData>

Remarks

Unlike the default equality comparer for ConfigurationData, this does not take the saved joint values into account.

Empty

Declaration

public static ConfigurationData Empty { get; }

Property Value

Type	Description
ConfigurationData

Methods

Equals(object)

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
object	obj

Returns

Type	Description
bool

Overrides

ValueType.Equals(object)

GetConfigurationData()

Returns the axis quadrants as an array of integers.

Declaration

public int[] GetConfigurationData()

Returns

Type	Description
int[]	An array of integer containing four elements which specifies the four axis quadrants.

GetHashCode()

Declaration

public override int GetHashCode()

Returns

Type	Description
int

Overrides

ValueType.GetHashCode()

GetJointValues()

Returns the joint values that where set when this class was returned from GetConfiguration().

Declaration

public double[] GetJointValues()

Returns

Type	Description
double[]	An array of double specifying the joint values a specific mechanism had, when it was positioned in this configuration. If this information is not known, an empty array is returned.

IsCompatible(ConfigurationData, ConfigurationData)

Checks if two configurations are compatible, i.e. can describe the same robot pose.

Declaration

public static bool IsCompatible(ConfigurationData cnf1, ConfigurationData cnf2)

Parameters

Type	Name	Description
ConfigurationData	cnf1
ConfigurationData	cnf2

Returns

Type	Description
bool	True if Cf1, Cf4, Cf6 differ by at most one and Cfx are equal.

SetConfigurationData(ref ConfigurationData, int[])

Sets the axis quadrants for a given configuration data, as specified by an array of integers.

Declaration

public static void SetConfigurationData(ref ConfigurationData configData, int[] values)

Parameters

Type	Name	Description
ConfigurationData	configData	The ConfigurationData instance that shall be modified.
int[]	values	An array of integer containing four elements which specifies the four axis quadrants.

Remarks

The length of values must be 4.

Exceptions

Type	Condition
ArgumentException	When size of values are not 4.

ToString()

Declaration

public override string ToString()

Returns

Type	Description
string

Overrides

ValueType.ToString()

Operators

operator ==(ConfigurationData, ConfigurationData)

Declaration

public static bool operator ==(ConfigurationData lhs, ConfigurationData rhs)

Parameters

Type	Name	Description
ConfigurationData	lhs
ConfigurationData	rhs

Returns

Type	Description
bool

operator !=(ConfigurationData, ConfigurationData)

Declaration

public static bool operator !=(ConfigurationData lhs, ConfigurationData rhs)

Parameters

Type	Name	Description
ConfigurationData	lhs
ConfigurationData	rhs

Returns

Type	Description
bool