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 |
---|---|
Int32 | An integer specifying the quadrant of axis 1. |
Cf4
The quadrant of axis 4.
Declaration
public int Cf4 { get; set; }
Property Value
Type | Description |
---|---|
Int32 | An integer specifying the quadrant of axis 4. |
Cf6
The quadrant of axis 6.
Declaration
public int Cf6 { get; set; }
Property Value
Type | Description |
---|---|
Int32 | 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 |
---|---|
Int32 | 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 readonly 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 readonly 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 |
---|---|
Boolean |
Overrides
GetConfigurationData()
Returns the axis quadrants as an array of integers.
Declaration
public int[] GetConfigurationData()
Returns
Type | Description |
---|---|
Int32[] | An array of integer containing four elements which specifies the four axis quadrants. |
GetHashCode()
Declaration
public override int GetHashCode()
Returns
Type | Description |
---|---|
Int32 |
Overrides
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 |
---|---|
Boolean | True if Cf1, Cf4, Cf6 differ by at most one and Cfx are equal. |
SetConfigurationData(ref ConfigurationData, Int32[])
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. |
Int32[] | 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
Operators
Equality(ConfigurationData, ConfigurationData)
Declaration
public static bool operator ==(ConfigurationData lhs, ConfigurationData rhs)
Parameters
Type | Name | Description |
---|---|---|
ConfigurationData | lhs | |
ConfigurationData | rhs |
Returns
Type | Description |
---|---|
Boolean |
Inequality(ConfigurationData, ConfigurationData)
Declaration
public static bool operator !=(ConfigurationData lhs, ConfigurationData rhs)
Parameters
Type | Name | Description |
---|---|---|
ConfigurationData | lhs | |
ConfigurationData | rhs |
Returns
Type | Description |
---|---|
Boolean |