| Mechanism Methods |
The Mechanism type exposes the following members.
Methods| Name | Description | |
|---|---|---|
 | AfterLoad | (Overrides GraphicComponentAfterLoad(PimDocument).) |
 | AttachToFlange(IAttachableChild, Boolean) |
Attaches the specified IAttachableChild to the flange of the Mechanism.
The Mechansim must have exactly one flange.
|
| AttachToFlange(IAttachableChild, Boolean, Matrix4) |
Attaches the specified IAttachableChild to the first flange of the Mechanism.
|
| Backup | (Inherited from ProjectObject.) |
| BeforeSave | (Inherited from ProjectObject.) |
| CalculateForwardKinematics |
Calculates forward kinematics for the mechanism. Given the specified mechanism joint values, the resulting TCP (tool0) transform is returned.
|
| CalculateInverseKinematics(Matrix4, Matrix4, Boolean, Double) | Obsolete. |
| CalculateInverseKinematics(RsTarget, RsToolData, Boolean, Double) |
Calculates inverse kinematics for the mechanism. Given the specified
RsTarget and
RsToolData, this method returns
the joint values the mechanism would have if it was moved to the pose.
A mechanism can often reach the specified pose with different arm configurations.
Using the useConfiguration you force the arm configuration stored in the
RsTarget to be used.
|
| CalculateInverseKinematics(RsRobTarget, RsWorkObject, RsToolData, Int32, Double) | |
| CalculateInverseKinematics(Matrix4, Double, Double, Matrix4, Boolean, Double) |
Calculate inverse kinematics given a pose and a starting set of joint values.
|
| CalculateInverseKinematicsAsync(Matrix4, Matrix4, Boolean) |
Calculate inverse kinematics from a pose.
|
| CalculateInverseKinematicsAsync(RsTarget, RsToolData, Boolean) |
Calculates inverse kinematics for the mechanism. Given the specified
RsTarget and
RsToolData, this method returns the
joint values the mechanism would have if it was moved to the pose. A mechanism can
often reach the specified pose with different arm configurations. Using the
useConfiguration you force the arm configuration stored in the RsTarget to be used.
|
| CalculateInverseKinematicsAsync(RsRobTarget, RsWorkObject, RsToolData, Int32) | |
| CalculateInverseKinematicsAsync(Matrix4, Double, Double, Matrix4, Boolean) |
Calculate inverse kinematics given a pose and a starting set of joint values.
|
| CanReach(Matrix4, Matrix4) | Obsolete. |
| CanReach(RsRobTarget, RsWorkObject, RsToolData) | Obsolete. |
| CanReachAsync(Matrix4, Matrix4) |
Checks if the specified target position can be reached with the specified tool.
A mechanism can often reach the specified target with different arm configurations.
This method returns true as long as there is at least one arm configuration with
which the robot can reach the target.
|
| CanReachAsync(RsRobTarget, RsWorkObject, RsToolData) |
Checks if the specified target position can be reached with the specified tool.
A mechanism can often reach the specified target with different arm configurations.
This method returns true as long as there is at least one arm configuration with
which the robot can reach the target.
|
| ClearTrace |
Removes the graphical trace of the TCP.
|
 | Copy |
Creates a deep copy of the object.
(Inherited from GraphicComponent.) |
| CopyInstance |
Creates a copy but keeps a connection to the definition of the GraphicComponent, typically in a Library definition.
(Inherited from GraphicComponent.) |
 | CreateFromScript | Obsolete. |
| CreateFromScriptAsync |
This method is for internal use only.
|
| Delete |
Deletes this object permanently.
(Inherited from GraphicComponent.) |
| DeleteGeometry |
Recursively deletes all CAD geometry.
(Inherited from GraphicComponent.) |
| DeleteGeometry(Boolean) | Obsolete. (Inherited from GraphicComponent.) |
| DisconnectFromLibrary |
Moves the definition to the Station or Project. This causes the Library property to return Null.
(Inherited from GraphicComponent.) |
| Equals | (Inherited from Object.) |
| ExportXml(String) |
Exports this to an XML file
(Inherited from GraphicComponent.) |
| ExportXml(String, String) |
Exports this to an XML file
(Inherited from GraphicComponent.) |
| Finalize | (Inherited from Object.) |
| FindObjects |
Recursively finds object that satisfy a condition.
(Inherited from ProjectObject.) |
| GetActiveJoints |
This method returns the indices of the joints used by this mechanism, as an array of integers.
The length of the array depends on how many joints are used. Some mechnism models have less than six axis.
The indices can be used together with the result from GetJointValues |
| GetAllConfigurations(Boolean) | Obsolete. |
| GetAllConfigurations(RsMoveInstruction) | Obsolete.
Returns reachable arm configurations for the specified move instruction.
|
| GetAllConfigurations(RsMoveInstruction, Boolean) | Obsolete. |
| GetAllConfigurations(RsTarget, RsToolData) | Obsolete.
Returns reachable arm configurations for the specified target.
|
| GetAllConfigurations(RsTarget, RsToolData, Boolean) | Obsolete. |
| GetAllConfigurations(RsTarget, RsToolData, Int32) | Obsolete. |
| GetAllConfigurations(RsTarget, RsToolData, Int32, Boolean) | Obsolete. |
| GetAllConfigurationsAsync(Boolean) |
Returns reachable arm configurations for the current pose.
|
| GetAllConfigurationsAsync(RsMoveInstruction, Boolean) |
Returns reachable arm configurations for the specified move instruction.
|
| GetAllConfigurationsAsync(RsTarget, RsToolData, Boolean) |
Returns reachable arm configurations for the specified target.
|
| GetAllConfigurationsAsync(RsTarget, RsToolData, Int32, Boolean) |
Returns reachable arm configurations for the specified target.
|
| GetBoundingBox(Boolean) |
Computes the (axis-aligned) bounding box for this object.
(Inherited from GraphicComponent.) |
| GetBoundingBox(Boolean, Vector3, Vector3) | Obsolete.
Computes the (axis-aligned) bounding box for this object.
(Inherited from GraphicComponent.) |
| GetBoundingBox(Boolean, IntPtr, IntPtr) | Obsolete. (Inherited from GraphicComponent.) |
| GetCalibrationPosition |
Returns the calibration transform for a joint.
|
| GetConfiguration |
Returns the current configuration.
|
| GetConfiguration(Double) |
Returns the configuration that corresponds to the given joint values.
|
| GetDenavitHartenbergParameters |
Gets the DenavitHartenbergParameters for all joints.
|
| GetFlange |
Get a Flange to which other entities can be attached.
|
| GetFlanges | |
| GetGfxChildren | (Inherited from GraphicComponent.) |
| GetGfxMatrix | (Inherited from GraphicComponent.) |
| GetHashCode | (Inherited from Object.) |
| GetHomePosition |
Returns the defined home position in form of a collection of values. The
number of values vary depending on the number of joints in the mechanism.
|
| GetJointLimits(Double, Double) |
Get joint limits.
|
| GetJointLimits(Double, Double, Double) |
Get joint limits given a set of joint values.
|
| GetJointTransform(Int32) |
Get the transform for a joint using the current joint values
The index of the joint for which the transform shall be retrieved.
Must be a value between 0 and NumTotalJoints. Return ValueType:Returns the transform of the specified joint, in Mechanism coordinates. |
| GetJointTransform(Int32, Double, Matrix4) |
Get the transform for a joint using specified joint values
The index of the joint for which the transform shall be retrieved. Must be a value between 0 and NumTotalJoints - 1.Returns the transform of the specified joint, in Mechanism coordinates. Return ValueType:True on success |
| GetJointTypes |
Get an array containing the type for each contained joint. For a mechanism with MechDef equal to null
or without forward kinematics an empty array is returned.
|
| GetJointValues |
Returns the current joint values.
|
| GetMatrix | (Inherited from GraphicComponent.) |
| GetNormalToSurface | Obsolete. Calculates the closest point and the corresponding normal. (Inherited from GraphicComponent.) |
| GetParentJoint |
Returns the joint index of a link, or -1.
|
| GetParentLink |
Returns the parent link of a joint.
|
| GetStaticJointLimits |
Get static joint limits.
|
| GetSyncPosition |
Returns the defined sync position in form of a collection of values. The
number of values are 0-6 depending on the number of joints used for
corresponding mechanism.
|
| GetToolDataInfo |
Returns the tool datas for a mechanism that is a tool.
|
| GetTransitionTimes |
Gets transition times.
|
| GetType | (Inherited from Object.) |
| GetUserDefinedJointPositions |
Get user defined joint positions.
|
| Highlight(Boolean) |
Highlights the object using the default highlight style and color.
(Inherited from GraphicComponent.) |
| Highlight(Boolean, Color) |
Highlights the object using a specified color.
(Inherited from GraphicComponent.) |
| InsideLimits |
Evaluates if a set of joint values are inside the joint limits.
|
| MemberwiseClone | (Inherited from Object.) |
| MoveDefinitionToLibrary |
Moves the definition to a new Library.
(Inherited from GraphicComponent.) |
| MoveToPose |
Moves the mechanism to a named pose.
|
| NotifyChange | (Inherited from ProjectObject.) |
| NotifyChange(ProjectObjectChangeType) | (Inherited from ProjectObject.) |
| OnCreatingObject | (Inherited from GraphicComponent.) |
| OnDelete | (Inherited from GraphicComponent.) |
| OnUndoRedo | (Inherited from GraphicComponent.) |
| SetActiveJoints |
This method sets the indices of the joints used by this mechanism, as an array of integers.
The length of the array depends on how many joints are used. Some mechanism models has less than six axis.
|
| SetHomePosition | |
| SetJointLimits |
Sets the joint limits for a joint.
|
| SetJointModelOffset |
Sets an offset between the joint value and the nominal kinematic model for a joint.
This can be used to modify the zero position of the mechanism.
|
| SetJointValues(Double, Boolean) |
Sets the mechanism joint values and updates joint values in the VC.
|
| SetJointValues(Double, Boolean, Boolean) |
ABB Internal use
|
| SetJointValues(Double, Boolean, Double) | Obsolete.
ABB Internal use
|
| SetJointValuesAsync |
Sets the mechanism joint values and asynchronously updates joint values in the VC.
|
| SetJointValuesInternal |
ABB Internal use
|
| SetMaterial |
Sets the material of the object.
(Inherited from GraphicComponent.) |
| SetMatrix | (Inherited from GraphicComponent.) |
| SetSyncPosition |
Sets the defined sync position in form of a collection of values. The
number of values are 0-6 depending on the number of joints used for
corresponding mechanism.
|
| SetTransitionTimes |
Sets transition times.
|
| SetUserDefinedJointPositions |
Sets user defined joint positions.
|
| ToString | (Inherited from ProjectObject.) |
| TryGetNormalToSurface | Calculates the closest point and the corresponding normal. (Inherited from GraphicComponent.) |
See Also