Robot Inverse Kinematics - the path interpolation for driving the robot along different targets which are forming a path

Inheritance diagram for realvirtual.IKPath:

Public Member Functions
void	startPath ()
	Start the path.

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 ()

new List< Signal >	GetSignals ()

Public Member Functions inherited from realvirtual.realvirtualBehavior
void	SetForceStop (bool forcestop)

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.

virtual void	AwakeAlsoDeactivated ()

List< BehaviorInterfaceConnection >	GetConnections ()

List< Signal >	GetSignals ()

Public Attributes
float	SpeedOverride = 1
	Speed override for this path.

bool	SetNewTCP
	Set new TCP for this path.

bool	DebugPath = false
	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 = true
	New TCP for this path. More...

bool	DrawTargets = true
	Draw the targets in the scene view.

List< IKTarget >	Path = new List<IKTarget>()
	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 = false
	Is the path active?

bool	PathIsFinished = false
	Is the path finished?

bool	LinearPathActive = false
	Is the linear path active?

float	LinearPathPos = 0
	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.

Public Attributes inherited from realvirtual.BehaviorInterface
List< BehaviorInterfaceConnection >	ConnectionInfo = new List<BehaviorInterfaceConnection>()

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 = false

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly

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	OnStop ()

virtual void	OnStart ()

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]`

Member Data Documentation

◆ DrawPath

bool realvirtual.IKPath.DrawPath = true

Draw the path in the scene view

Public Member Functions

Public Attributes

Additional Inherited Members

Member Data Documentation

◆ DrawPath