Align Targets in Path direction

This example demonstrates how to align all targets based on the direction from the first to the last target in the collection. The aligning of targets can be seen graphically.

Solution

  1. Get the active station, and then get the targets from the active task

    // Get the active station, then get the targets from the active task
Station station = Station.ActiveStation;
RsTargetCollection existingTargets = Station.ActiveStation.ActiveTask.Targets;

  2. Find targets from RsRobTarget

    // Find targets from Robtarget
RsTarget[] firstTarget = station.ActiveTask.FindTargetsByRobTarget(existingTargets[0].RobTarget);
RsTarget[] secondTarget = station.ActiveTask.FindTargetsByRobTarget(existingTargets[existingTargets.Count - 1].RobTarget);

// Get the translation values of targets
Vector3 firstTargetVector = firstTarget[0].Transform.GlobalMatrix.Translation;
Vector3 secondTargetVector = secondTarget[0].Transform.GlobalMatrix.Translation;

  3. Create a normal vector

    // Create a normal vector
Vector3 normalVector = new Vector3(firstTarget[0].Transform.GlobalMatrix.z.x,
                                   firstTarget[0].Transform.GlobalMatrix.z.y,
                                   firstTarget[0].Transform.GlobalMatrix.z.z);

  4. Find the direction vector between the first and second point

    // Find the direction vector between p1 and p2
Vector3 dir_p1p2 = secondTargetVector.Subtract(firstTargetVector);
dir_p1p2.Normalize();

  5. Find Cross product of direction vector and normal vector

    // Find Cross product of direction vector and normal vector
Vector3 y = dir_p1p2.Cross(normalVector);
y.Normalize();

  6. Assign new values to targets

    // Assign new values to targets
foreach (RsTarget target in existingTargets)
{
    Matrix4 normalMatrix = new Matrix4(y, dir_p1p2, normalVector, target.Transform.GlobalMatrix.Translation);
    target.RobTarget.Frame.Matrix = normalMatrix;
}

Example

// Begin UndoStep
Project.UndoContext.BeginUndoStep("AlignTarget");
try
{
    // Get the active station, then get the targets from the active task
    Station station = Station.ActiveStation;
    RsTargetCollection existingTargets = Station.ActiveStation.ActiveTask.Targets;

    // To align targets, there must be more than 1 target in the collection
    if (existingTargets.Count > 1)
    {
        // Find targets from Robtarget
        RsTarget[] firstTarget = station.ActiveTask.FindTargetsByRobTarget(existingTargets[0].RobTarget);
        RsTarget[] secondTarget = station.ActiveTask.FindTargetsByRobTarget(existingTargets[existingTargets.Count - 1].RobTarget);

        // Get the translation values of targets
        Vector3 firstTargetVector = firstTarget[0].Transform.GlobalMatrix.Translation;
        Vector3 secondTargetVector = secondTarget[0].Transform.GlobalMatrix.Translation;

        // Create a normal vector
        Vector3 normalVector = new Vector3(firstTarget[0].Transform.GlobalMatrix.z.x,
                                           firstTarget[0].Transform.GlobalMatrix.z.y,
                                           firstTarget[0].Transform.GlobalMatrix.z.z);

        // Find the direction vector between p1 and p2
        Vector3 dir_p1p2 = secondTargetVector.Subtract(firstTargetVector);
        dir_p1p2.Normalize();

        // Find Cross product of direction vector and normal vector
        Vector3 y = dir_p1p2.Cross(normalVector);
        y.Normalize();

        // Assign new values to targets
        foreach (RsTarget target in existingTargets)
        {
            Matrix4 normalMatrix = new Matrix4(y, dir_p1p2, normalVector, target.Transform.GlobalMatrix.Translation);
            target.RobTarget.Frame.Matrix = normalMatrix;
        }
    }
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}

Required Namespaces

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.Math

See Also