Rotating with respect to axis

This example provides information on rotating targets about their local reference. It expects that the targets are already created. You need to pass a RsTargetCollection object or station.ActiveTask.Targets to this example. The rotation of targets can be seen graphically.

Solution

  1. Get translation vector of the target

    // Get the translation vector of the target
Vector3 translation = new Vector3(target.Transform.GlobalMatrix.Translation.x,
                                  target.Transform.GlobalMatrix.Translation.y,
                                  target.Transform.GlobalMatrix.Translation.z);

  2. Get the z-axis vector of the target

    // Get the z-axis vector of target
Vector3 zAxis = new Vector3(target.Transform.GlobalMatrix.z.x,
                            target.Transform.GlobalMatrix.z.y,
                            target.Transform.GlobalMatrix.z.z);
    Note

    To adjust the rotation axis, you can modify the axis vector directly by accessing target.Transform.GlobalMatrix.x.x for the X-axis, target.Transform.GlobalMatrix.y.x for the Y-axis, and similarly for other parameters. Alternatively, for a more straightforward approach, consider using target.Transform.GlobalMatrix.GetAxisVector(Axis.X) for the X-axis or target.Transform.GlobalMatrix.GetAxisVector(Axis.Y) for the Y-axis.

  3. Get the target's GlobalMatrix and rotate it around the z-axis

    // Get the matrix of target
Matrix4 tMatrix = target.Transform.GlobalMatrix;

// Rotate the matrix
tMatrix.Rotate(translation, zAxis, rotationAngle);

  4. Set the GlobalMatrix of the target to the rotated matrix

    // Set the new matrix to target matrix
target.Transform.GlobalMatrix = tMatrix;

Example

This example provides information on rotating targets based on axis in RobotStudio.

private static void RSRotateBasedOnAxis(RsTargetCollection targetCollection)
{
    //Begin UndoStep
    Project.UndoContext.BeginUndoStep("RotateBasedOnAxis");
    try
    {
        foreach (RsTarget target in targetCollection)
        {
            // Convert rotation angle from degrees to radians
            double rotationAngle = Globals.DegToRad(45);

            // Get the translation vector of the target
            Vector3 translation = new Vector3(target.Transform.GlobalMatrix.Translation.x,
                                              target.Transform.GlobalMatrix.Translation.y,
                                              target.Transform.GlobalMatrix.Translation.z);

            // Get the z-axis vector of target
            Vector3 zAxis = new Vector3(target.Transform.GlobalMatrix.z.x,
                                        target.Transform.GlobalMatrix.z.y,
                                        target.Transform.GlobalMatrix.z.z);

            // Get the matrix of target
            Matrix4 tMatrix = target.Transform.GlobalMatrix;

            // Rotate the matrix
            tMatrix.Rotate(translation, zAxis, rotationAngle);

            // Set the new matrix to target matrix
            target.Transform.GlobalMatrix = tMatrix;
        }
    }
    catch
    {
        Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
        throw;
    }
    finally
    {
        Project.UndoContext.EndUndoStep();
    }
}

Required Namespaces

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.Math

See Also