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 FlangeProperties
View SourceGlobalMatrix
Gets the global position of the Flange.
Declaration
public 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 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 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 Matrix4 Offset { get; }Property Value
| Type | Description |
|---|---|
| Matrix4 | A Matrix4 that specifies the position of the Flange, relative the link. |
Methods
View SourceAttach(IAttachableChild, bool)
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. |
| bool | mount | Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details. |
Returns
| Type | Description |
|---|---|
| bool | True if an attachment could be created, false otherwise |
Attach(IAttachableChild, bool, 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. |
| bool | 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 |
Returns
| Type | Description |
|---|---|
| bool | 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 |
|---|---|
| bool | 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 |