Creating Targets using GraphicPicker

Graphic picker event enables user to get the clicked position information. This example provides information on creating targets at the clicked positions.

Use this procedure to create targets on pick position :

  1. Initialize GraphicPick.

  2. Click RobotStudio graphic window to raise the GraphicPick event.

  3. Get PickedPosition from GraphicPickEventArgs to create RsTarget object instance.

Note

Uninitialize GraphicPicker event after the operation has been completed.

Example

This example provides information on picking targets graphically in RobotStudio.

public void PickTargets()
{
    // Subscribe to the 'GraphicPick' event that triggers when the user picks objects in the graphics view  
    GraphicPicker.GraphicPick += (sender, e) =>
    {
        // Begin UndoStep  
        Project.UndoContext.BeginUndoStep("CreateTarget");
        try
        {
            // Creates target at the picked position
            CreateRobotStudioTarget(e.PickedPosition);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }
    };
}

private static void CreateRobotStudioTarget(Vector3 position)
{
    try
    {
        // Get the active station
        Station station = Station.ActiveStation;

        // Create a new robot target with a unique name  
        RsRobTarget robTarget = new RsRobTarget();
        robTarget.Name = station.ActiveTask.GetValidRapidName("Target", "_", 10);

        // Set the robot target's position  
        robTarget.Frame.Translation = position;

        // Add robtarget to data declaration
        station.ActiveTask.DataDeclarations.Add(robTarget);

        // Create and configure the visual target representation  
        RsTarget target = new RsTarget(station.ActiveTask.ActiveWorkObject, robTarget);
        target.Name = robTarget.Name;
        target.Attributes.Add(target.Name, true);

        // Add targets to active task
        station.ActiveTask.Targets.Add(target);
    }
    catch (Exception ex)
    {
        ApplicationLogger.LogException(ex);
    }
}

Required Namespaces

ABB.Robotics.RobotStudio.Stations.Forms

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.RobotStudio.Diagnostics

ABB.Robotics.Math

See Also