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realvirtual.IKPath Class Reference

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

Inheritance diagram for realvirtual.IKPath:
realvirtual.BehaviorInterface realvirtual.realvirtualBehavior realvirtual.ISignalInterface

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< BehaviorInterfaceConnectionGetConnections ()
new List< SignalGetSignals ()
- 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< BehaviorInterfaceConnectionUpdateConnectionInfo ()
List< SignalGetConnectedSignals ()
void SetVisibility (bool visibility)
 Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()
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< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()

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< IKTargetPath = 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< BehaviorInterfaceConnectionConnectionInfo = 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