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static void | DrawBox (DensoInterface denso, Vector3 boxSize, Pose areaTransform, Color boxColor) |
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static void | DrawArrowX (float xCoord, float yCoord, float zCoord, float arrowRadius, float arrowDepth, Color arrowColor, ReferenceFrame refFrame, Pose preTransformation, Transform objectTransformation) |
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static void | DrawArrowY (float xCoord, float yCoord, float zCoord, float arrowRadius, float arrowDepth, Color arrowColor, ReferenceFrame refFrame, Pose preTransformation, Transform objectTransformation) |
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static void | DrawArrowZ (float xCoord, float yCoord, float zCoord, float arrowRadius, float arrowDepth, Color arrowColor, ReferenceFrame refFrame, Pose preTransformation, Transform objectTransformation) |
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static void | DrawGrid (int rows, int columns, Color gridColor) |
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| static Pose | RobotBase2UnityPose (double[] robotPTypeVar, Quaternion? unityInitialQuat=null, bool round=false) |
| | Function to convert a robot P-type variable to left-handed Unity reference frame (in) robotPTypeVar : double[] --> (only the first 6 values are taken into account: X [mm], Y [mm], Z [mm], RX [deg], RY [deg], RZ [deg]) (in) unityInitialQuat (OPTIONAL) : Quaternion --> unity quaternion describing the initial orientation of the gameobject (if not set, Identity) (out) Pose: unity Pose data-type (position [m] + orientation)
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| static double[] | UnityPose2RobotBase (Pose unityPose, Quaternion? unityInitialQuat=null, bool round=false) |
| | Function to convert a left-handed Unity reference frame to a robot P-type variable (in) unityPose : Pose --> unity Pose data-type (position [m] + orientation) (in) unityInitialQuat (OPTIONAL) : Quaternion --> unity quaternion describing the initial orientation of the gameobject (if not set, Identity) (out) double[] (7 values : X [mm], Y [mm], Z [mm], RX [deg], RY [deg], RZ [deg], FIG)
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static void | UpdateTransformationTool (DensoInterface denso, int toolNumber, double[] toolDef) |
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static void | UpdateTransformationWork (DensoInterface denso, int workNumber, double[] workDef) |
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static void | UpdateTransformationArea (DensoInterface denso, int areaNumber, double[] areaDef) |
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static Pose | UpdateTransformationSafetyArea (double[] safetyAreaDef, ref Matrix4x4 robotMatrix) |
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static bool | ParseXML (DensoInterface denso) |
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static void | DrawLine (Vector3 p1, Vector3 p2) |
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| static Pose realvirtual.DensoTools.RobotBase2UnityPose |
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double[] |
robotPTypeVar, |
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Quaternion? |
unityInitialQuat = null, |
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bool |
round = false |
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) |
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static |
Function to convert a robot P-type variable to left-handed Unity reference frame (in) robotPTypeVar : double[] --> (only the first 6 values are taken into account: X [mm], Y [mm], Z [mm], RX [deg], RY [deg], RZ [deg]) (in) unityInitialQuat (OPTIONAL) : Quaternion --> unity quaternion describing the initial orientation of the gameobject (if not set, Identity) (out) Pose: unity Pose data-type (position [m] + orientation)
| static double[] realvirtual.DensoTools.UnityPose2RobotBase |
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Pose |
unityPose, |
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Quaternion? |
unityInitialQuat = null, |
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bool |
round = false |
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) |
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static |
Function to convert a left-handed Unity reference frame to a robot P-type variable (in) unityPose : Pose --> unity Pose data-type (position [m] + orientation) (in) unityInitialQuat (OPTIONAL) : Quaternion --> unity quaternion describing the initial orientation of the gameobject (if not set, Identity) (out) double[] (7 values : X [mm], Y [mm], Z [mm], RX [deg], RY [deg], RZ [deg], FIG)
