Transforming Target

This example provides information on reassociating targets with respect to another workobject without repositioning. It assumes that the targets have already been created and that a workobject (referred to here as newWorkObject) exists within your RobotStudio project. To follow this tutorial, you should pass instances of RsTargetCollection and RsWorkObject to the provided code. After executing the example code, the targets will be associated with the specified new work object (newWorkObject).

Solution

  1. Get global matrix of newWorkobject.

    // Get global matrix of newWorkobject
Matrix4 woObjectFrameGlobalMatrix = newWorkObject.ObjectFrame.GlobalMatrix;

  2. Inverse the global matrix of newWorkobject.

    // Inverse the global matrix
woObjectFrameGlobalMatrix.InvertRigid();

  3. Get target frame global matrix.

    // Get the target's global matrix
Matrix4 targetFrameMatrix = target.RobTarget.Frame.GlobalMatrix;

  4. Get new matrix value for target with respect to newWorkobject.

    // Get new matrix value for target with respect to newWorkobject
Matrix4 finalMatrix = woObjectFrameGlobalMatrix * targetFrameMatrix;

  5. Change the workobject of target.

    // Change the workobject of target
target.WorkObject = newWorkObject;

  6. Assign final matrix to target local matrix.

    // Update the RobTarget's frame with finalMatrix for new 3D position and orientation
target.RobTarget.Frame.Matrix = finalMatrix;

Example

This example provides information on reassociating targets with respect to another workobject without repositioning.

private static void TransformTargetBasedOnNewWorkObject(RsTargetCollection targets, RsWorkObject newWorkObject)
{
    // Begin UndoStep
    Project.UndoContext.BeginUndoStep("ChangeWobj");

    try
    {
        // Iterate through each target in the collection to update their workobject
        foreach (RsTarget target in targets)
        {
            // Skip the update process if the target's current workobject matches the new workobject
            if (!target.WorkObject.Equals(newWorkObject))
            {
                // Get global matrix of newWorkobject
                Matrix4 woObjectFrameGlobalMatrix = newWorkObject.ObjectFrame.GlobalMatrix;

                // Inverse the global matrix
                woObjectFrameGlobalMatrix.InvertRigid();

                // Get the target's global matrix
                Matrix4 targetFrameMatrix = target.RobTarget.Frame.GlobalMatrix;

                // Get new matrix value for target with respect to newWorkobject
                Matrix4 finalMatrix = woObjectFrameGlobalMatrix * targetFrameMatrix;

                // Change the workobject of target
                target.WorkObject = newWorkObject;

                // Update the RobTarget's frame with finalMatrix for new 3D position and orientation
                target.RobTarget.Frame.Matrix = finalMatrix;
            }
        }
    }
    catch
    {
        Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
        throw;
    }
    finally
    {
        Project.UndoContext.EndUndoStep();
    }
}

Required Namespaces

ABB.Robotics.Math

ABB.Robotics.RobotStudio.Stations

See Also