Class Transform
Represents the translation and orientation of a graphical ProjectObject.
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public sealed class Transform
Properties
GlobalMatrix
Gets or sets the translation and orientation in global coordinates.
Declaration
public Matrix4 GlobalMatrix { get; set; }
Property Value
Type | Description |
---|---|
Matrix4 |
Matrix
Gets or sets the local translation and orientation.
Declaration
public Matrix4 Matrix { get; set; }
Property Value
Type | Description |
---|---|
Matrix4 |
Parent
Gets the ProjectObject that is the owner of this transform.
Declaration
public ProjectObject Parent { get; }
Property Value
Type | Description |
---|---|
ProjectObject |
RX
Gets or sets the local rotation around the X axis.
Declaration
public double RX { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Uses the Euler ZYX convention.
RY
Gets or sets the local rotation around the Y axis.
Declaration
public double RY { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Uses the Euler ZYX convention.
RZ
Gets or sets the local rotation around the Z axis.
Declaration
public double RZ { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Uses the Euler ZYX convention.
Translation
Gets or sets the local translation.
Declaration
public Vector3 Translation { get; set; }
Property Value
Type | Description |
---|---|
Vector3 |
X
Gets or sets the local translation along the X axis.
Declaration
public double X { get; set; }
Property Value
Type | Description |
---|---|
Double |
Y
Gets or sets the local translation along the Y axis.
Declaration
public double Y { get; set; }
Property Value
Type | Description |
---|---|
Double |
Z
Gets or sets the local translation along the Z axis.
Declaration
public double Z { get; set; }
Property Value
Type | Description |
---|---|
Double |
Methods
GetRelativeTransform(IHasTransform)
Declaration
public Matrix4 GetRelativeTransform(IHasTransform relativeTo)
Parameters
Type | Name | Description |
---|---|---|
IHasTransform | relativeTo | Reference object. |
Returns
Type | Description |
---|---|
Matrix4 | A Matrix4 that converts from this coordinate system to the coordinate system of the reference object. |
GetRelativeTransform(Transform)
Declaration
public Matrix4 GetRelativeTransform(Transform relativeTo)
Parameters
Type | Name | Description |
---|---|---|
Transform | relativeTo | Reference Transform. |
Returns
Type | Description |
---|---|
Matrix4 | A Matrix4 that converts from this coordinate system to the coordinate system of the reference object. |
SetRelativeTransform(Matrix4, Matrix4)
Sets the position and orientation relative to a reference frame.
Declaration
public void SetRelativeTransform(Matrix4 relativeToGlobal, Matrix4 matrix)
Parameters
Type | Name | Description |
---|---|---|
Matrix4 | relativeToGlobal | Reference frame in global coordinates. |
Matrix4 | matrix | Position and orientation relative to the reference frame. |
SetRelativeTransform(IHasTransform, Matrix4)
Sets the position and orientation relative to another object.
Declaration
public void SetRelativeTransform(IHasTransform relativeTo, Matrix4 matrix)
Parameters
Type | Name | Description |
---|---|---|
IHasTransform | relativeTo | Reference object. |
Matrix4 | matrix | Position and orientation relative to the reference object. |