realvirtual.IKPath Class Reference
Orchestrates complex robotic motion sequences through target-based path planning with industrial interpolation modes. More...
Inheritance diagram for realvirtual.IKPath:
Public Member Functions | |
| void | startPath () |
| Start the path. | |
| void | OnXRInit (GameObject placedobj) |
| Event called on Init in XR Space. | |
| void | OnXRStartPlace (GameObject placedobj) |
| Called when Path is starting to be placed in XR / VR Space. | |
| void | OnXREndPlace (GameObject placedobj) |
| Called when Path is stopped to be placed in XR / VR Space. | |
| void | StartDrivePTP (IKTarget target) |
| Starts to drive PTP to the target. | |
| void | OnTargetDelete (IKTarget target) |
| bool | DriveToTarget (IKTarget target) |
| Starts to drive to the target. | |
| void | AddTargetToPath () |
 Public Member Functions inherited from realvirtual.BehaviorInterface | |
| new List< BehaviorInterfaceConnection > | GetConnections () |
| Returns a list of behavior interface connections for this component. | |
| new List< Signal > | GetSignals () |
| Returns a list of connected signals for this component. | |
| Public Member Functions inherited from realvirtual.realvirtualBehavior | |
| void | PreStartSim () |
| Is called by the realvirtualController before the component is started. | |
| void | StartSim () |
| Is called by the realvirtualController to start or stop the component. | |
| void | StopSim () |
| Vector3 | DirectionToVector (DIRECTION direction) |
| Transfers the direction enumeration to a vector. | |
| DIRECTION | VectorToDirection (bool torotatoin, Vector3 vector) |
| Transfers a vector to the direction enumeration. | |
| float | GetLocalScale (Transform thetransform, DIRECTION direction) |
| List< BehaviorInterfaceConnection > | UpdateConnectionInfo () |
| List< Signal > | GetConnectedSignals () |
| void | SetVisibility (bool visibility) |
| Sets the visibility of this object including all subobjects. | |
| List< BehaviorInterfaceConnection > | GetConnections () |
| List< Signal > | GetSignals () |
| GameObject | GetChildByName (string name) |
| Gets a child by name. | |
| List< GameObject > | GetChildsByName (string name) |
| Gets all child by name. | |
| GameObject | GetChildByNameAlsoHidden (string name) |
| List< GameObject > | GetAllMeshesWithGroup (string group) |
| List< GameObject > | GetAllWithGroup (string group) |
| List< GameObject > | GetAllWithGroups (List< string > groups) |
| List< GameObject > | GetAllMeshesWithGroups (List< string > groups) |
| List< string > | GetMyGroups () |
| List< GameObject > | GetMeshesWithSameGroups () |
| List< GameObject > | GetAllWithSameGroups () |
| MeshRenderer | GetMeshRenderer () |
| Gets the mesh renderers in the childrens. | |
| void | SetCollider (bool enabled) |
| sets the collider in all child objects | |
| void | ErrorMessage (string message) |
| Displays an error message. | |
| void | ChangeConnectionMode (bool isconnected) |
| void | Log (string message) |
| Logs a message. | |
| void | Log (string message, object obj) |
| Logs a message with a relation to an object. | |
| void | Warning (string message, object obj) |
| Logs a warinng with a relation to an object. | |
| void | Error (string message, object obj) |
| Logs an error with a relation to an object. | |
| void | Error (string message) |
| Logs an error. | |
| GameObject | DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale) |
| Displays a gizmo for debugging positions. | |
| void | SetFreezePosition (bool enabled) |
| Freezes all child components to the current poosition. | |
| void | SetRbConstraints (RigidbodyConstraints constraints) |
| virtual void | AwakeAlsoDeactivated () |
Public Attributes | |
| float | SpeedOverride |
| Speed override for this path. | |
| bool | SetNewTCP |
| Set new TCP for this path. | |
| bool | DebugPath |
| Debug the path by drawing points in scene mode - red is tcp position, green is corrected position by PositionCorrection value in target. | |
| GameObject | TCP |
| bool | DrawPath |
| New TCP for this path. | |
| bool | DrawTargets |
| Draw the targets in the scene view. | |
| List< IKTarget > | Path |
| List of targets for the path. | |
| PLCOutputBool | SignalStart |
| Signal to start the path. | |
| bool | StartPath |
| Start the path on simulation start. | |
| bool | LoopPath |
| Loop the path after this path is ended. | |
| PLCInputBool | SignalIsStarted |
| Signal that the path is started. | |
| PLCInputBool | SignalEnded |
| Signal that the path is ended. | |
| IKPath | StartNextPath |
| Start this path after this path is ended. | |
| bool | PathIsActive |
| Is the path active? | |
| bool | PathIsFinished |
| Is the path finished? | |
| bool | LinearPathActive |
| Is the linear path active? | |
| float | LinearPathPos |
| Position of the linear path. | |
| IKTarget | CurrentTarget |
| Current target of the path. | |
| IKTarget | LastTarget |
| Last target of the path. | |
| int | NumTarget |
| Number of the current target. | |
| bool | WaitForSignal |
| Is the path waiting for a signal? | |
| RobotIK | RobotIK |
| RobotIK component - assigned robot to this path. | |
| Vector3 | LastPlannedPosition |
| Last planned position of the robot. | |
| Quaternion | LastPlannedRotation |
| Public Attributes inherited from realvirtual.BehaviorInterface | |
| List< BehaviorInterfaceConnection > | ConnectionInfo |
| Public Attributes inherited from realvirtual.realvirtualBehavior | |
| string | Name |
| The name of the component if it should be different from the GameObject name. | |
| ActiveOnly | Active |
| GameObject | FromTemplate |
| realvirtualController | realvirtualController |
| bool | HideNonG44Components |
| bool | SceneIsAdditive |
| bool | ForceStop |
Additional Inherited Members | |
| Public Types inherited from realvirtual.realvirtualBehavior | |
| enum | ActiveOnly { Always , Connected , Disconnected , Never , DontChange } |
| Static Public Member Functions inherited from realvirtual.realvirtualBehavior | |
| static bool | DirectionIsLinear (DIRECTION direction) |
| Gets back if the direction is linear or a rotation. | |
| Protected Member Functions inherited from realvirtual.realvirtualBehavior | |
| bool | hidename () |
| bool | hideactiveonly () |
| virtual void | OnStopSim () |
| virtual void | OnPreStartSim () |
| virtual void | OnStartSim () |
| MU | GetTopOfMu (GameObject obj) |
| Gets the top of an MU component (the first MU script going up in the hierarchy) | |
| void | InitGame4Automation () |
| Initialiates the components and gets the reference to the realvirtualController in the scene. | |
| virtual void | AfterAwake () |
| void | Awake () |
| Properties inherited from realvirtual.ISignalInterface | |
| GameObject | gameObject [get] |
Detailed Description
Orchestrates complex robotic motion sequences through target-based path planning with industrial interpolation modes.
This professional component manages robot trajectories by sequencing multiple IK targets with configurable interpolation methods (PTP, linear), speed control, and signal integration. Essential for programming pick-and-place operations, welding paths, assembly sequences, and material handling in virtual commissioning.
Member Function Documentation
◆ DriveToTarget()
| bool realvirtual.IKPath.DriveToTarget | ( | IKTarget | target | ) |
Starts to drive to the target.
◆ OnXREndPlace()
| void realvirtual.IKPath.OnXREndPlace | ( | GameObject | placedobj | ) |
Called when Path is stopped to be placed in XR / VR Space.
◆ OnXRInit()
| void realvirtual.IKPath.OnXRInit | ( | GameObject | placedobj | ) |
Event called on Init in XR Space.
◆ OnXRStartPlace()
| void realvirtual.IKPath.OnXRStartPlace | ( | GameObject | placedobj | ) |
Called when Path is starting to be placed in XR / VR Space.
◆ StartDrivePTP()
| void realvirtual.IKPath.StartDrivePTP | ( | IKTarget | target | ) |
Starts to drive PTP to the target.
◆ startPath()
| void realvirtual.IKPath.startPath | ( | ) |
Start the path.
Member Data Documentation
◆ CurrentTarget
| IKTarget realvirtual.IKPath.CurrentTarget |
Current target of the path.
◆ DebugPath
| bool realvirtual.IKPath.DebugPath |
Debug the path by drawing points in scene mode - red is tcp position, green is corrected position by PositionCorrection value in target.
◆ DrawPath
| bool realvirtual.IKPath.DrawPath |
New TCP for this path.
Draw the path in the scene view
◆ DrawTargets
| bool realvirtual.IKPath.DrawTargets |
Draw the targets in the scene view.
◆ LastPlannedPosition
| Vector3 realvirtual.IKPath.LastPlannedPosition |
Last planned position of the robot.
◆ LastTarget
| IKTarget realvirtual.IKPath.LastTarget |
Last target of the path.
◆ LinearPathActive
| bool realvirtual.IKPath.LinearPathActive |
Is the linear path active?
◆ LinearPathPos
| float realvirtual.IKPath.LinearPathPos |
Position of the linear path.
◆ LoopPath
| bool realvirtual.IKPath.LoopPath |
Loop the path after this path is ended.
◆ NumTarget
| int realvirtual.IKPath.NumTarget |
Number of the current target.
◆ Path
| List<IKTarget> realvirtual.IKPath.Path |
List of targets for the path.
◆ PathIsActive
| bool realvirtual.IKPath.PathIsActive |
Is the path active?
◆ PathIsFinished
| bool realvirtual.IKPath.PathIsFinished |
Is the path finished?
◆ RobotIK
| RobotIK realvirtual.IKPath.RobotIK |
RobotIK component - assigned robot to this path.
◆ SetNewTCP
| bool realvirtual.IKPath.SetNewTCP |
Set new TCP for this path.
◆ SignalEnded
| PLCInputBool realvirtual.IKPath.SignalEnded |
Signal that the path is ended.
◆ SignalIsStarted
| PLCInputBool realvirtual.IKPath.SignalIsStarted |
Signal that the path is started.
◆ SignalStart
| PLCOutputBool realvirtual.IKPath.SignalStart |
Signal to start the path.
◆ SpeedOverride
| float realvirtual.IKPath.SpeedOverride |
Speed override for this path.
◆ StartNextPath
| IKPath realvirtual.IKPath.StartNextPath |
Start this path after this path is ended.
◆ StartPath
| bool realvirtual.IKPath.StartPath |
Start the path on simulation start.
◆ WaitForSignal
| bool realvirtual.IKPath.WaitForSignal |
Is the path waiting for a signal?