Struct Flange
Represents a flange of a Mechanism. A flange is an entity that is created when modeling a mechanism. Using the flange you can attach other objects deriving from IAttachableChild to the link of the flange. A robot usually has a flange modeled at its wrist. That makes it possible to for example attach a tool on the wrist of a robot.
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public struct Flange
Properties
GlobalMatrix
Gets the global position of the Flange.
Declaration
public readonly Matrix4 GlobalMatrix { get; }
Property Value
Type | Description |
---|---|
Matrix4 | A Matrix4 that specifies the position of the Flange, in world coordinates. |
Link
Gets the link (a GraphicComponent ), on which the Flange is placed.
Declaration
public readonly GraphicComponent Link { get; }
Property Value
Type | Description |
---|---|
GraphicComponent | The link (a GraphicComponent ), on which the Flange is placed. Mechanisms are built up of links connected with joints. |
Name
Gets name of the Flange.
Declaration
public readonly string Name { get; }
Property Value
Type | Description |
---|---|
String | The name of the Flange. |
Offset
Gets the offset from the link, where the Flange is placed.
Declaration
public readonly Matrix4 Offset { get; }
Property Value
Type | Description |
---|---|
Matrix4 | A Matrix4 that specifies the position of the Flange, relative the link. |
Methods
Attach(IAttachableChild, Boolean)
Attaches the specified IAttachableChild to the link of this flange. Please refer to the documentation of Attachment for details about attaching objects to each other.
Declaration
public bool Attach(IAttachableChild child, bool mount)
Parameters
Type | Name | Description |
---|---|---|
IAttachableChild | child | The IAttachableChild to attach to the link of this flange. |
Boolean | mount | Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details. |
Returns
Type | Description |
---|---|
Boolean | True if an attachment could be created, false otherwise |
Attach(IAttachableChild, Boolean, Matrix4)
Attaches the specified IAttachableChild to the link of this flange. Please refer to the documentation of Attachment for details about attaching objects to each other.
Declaration
public bool Attach(IAttachableChild child, bool mount, Matrix4 offset)
Parameters
Type | Name | Description |
---|---|---|
IAttachableChild | child | The IAttachableChild to attach to the link of this flange. |
Boolean | mount | Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details. |
Matrix4 | offset | The offset from this flange to the new position of the child. Only used if mount is true. |
Returns
Type | Description |
---|---|
Boolean | True if an attachment could be created, false otherwise |
Detach(IAttachableChild)
Detaches the specified IAttachableChild from the link of this flange. Please refer to the documentation of Attachment for details about detaching objects.
Declaration
public bool Detach(IAttachableChild child)
Parameters
Type | Name | Description |
---|---|---|
IAttachableChild | child | The IAttachableChild to detach from the link of this flange. |
Returns
Type | Description |
---|---|
Boolean | True if the child could be detached, false otherwise |
GetFrame()
Gets the Frame that is associated with the Flange. This frame always has the same name as the flange.
Declaration
public Frame GetFrame()
Returns
Type | Description |
---|---|
Frame |