Defines precise robot target positions with industrial motion parameters for accurate path execution. More...

Public Types | |
enum | Interploation { PointToPoint , PointToPointUnsynced , Linear } |
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enum | ActiveOnly { Always , Connected , Disconnected , Never , DontChange } |
Public Member Functions | |
void | OnAtTarget () |
Vector3 | GetCorrectedGlobalPosition () |
void | OnLeaveTarget () |
void | SetAsTarget () |
void | DriveTo () |
void | SetCorrection () |
void | ClearCorrection () |
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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. | |
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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 | |
bool | FollowInEditMode |
If true the target will follow the robot in edit mode. | |
Vector3 | PosRH |
Position of the target in right handed robot coordinates. | |
Vector3 | RotRH |
Rotation of the target in right handed robot coordinates. | |
float | SpeedToTarget |
Speed to target in percent. | |
float | LinearAcceleration |
Linear acceleration in mm/s^2. | |
Interploation | InterpolationToTarget |
Interpolation to target. | |
float | LinearSpeedToTarget |
Linear speed to target in mm/s. | |
bool | TurnCorrection |
If true the robot will do the 180 degree turn correction of axis 4 and 6. | |
float[] | AxisCorrection |
Correction of the axis in degrees. | |
Vector3 | PositionCorrection |
Correction of the position (because of inaccuracies of the robotik) | |
float | PositionFailure |
Position failure in m. | |
PLCInputBool | SetSignal |
Set Signal if target is reached. | |
float | SetSignalDuration |
Duration of the set signal in seconds. | |
float | WaitForSeconds |
Wait for seconds after target is reached. | |
PLCOutputBool | WaitForSignal |
bool | PickAndPlace |
Wait for signal after target is reached. | |
Fixer | fixer |
bool | Pick |
bool | Place |
int | Solution |
Solution to use of the IK for this target. | |
string[] | Solutions |
Solutions of the IK for this target. | |
float[] | AxisPos |
Axis positions of the IK for this target. | |
RobotIK | RobotIK |
Robot IK of the robot. | |
bool | Reachable |
If true the target is reachable by the robot. | |
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List< BehaviorInterfaceConnection > | ConnectionInfo |
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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 | |
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static bool | DirectionIsLinear (DIRECTION direction) |
Gets back if the direction is linear or a rotation. | |
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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 () |
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GameObject | gameObject [get] |
Detailed Description
Defines precise robot target positions with industrial motion parameters for accurate path execution.
This professional component represents waypoints in robotic paths with configurable interpolation modes, speed parameters, and signal coordination. Supports linear and point-to-point motion, axis corrections, and integration with pick-and-place operations for comprehensive robotic programming in automation systems.
Member Data Documentation
◆ AxisCorrection
float [] realvirtual.IKTarget.AxisCorrection |
Correction of the axis in degrees.
◆ AxisPos
float [] realvirtual.IKTarget.AxisPos |
Axis positions of the IK for this target.
◆ FollowInEditMode
bool realvirtual.IKTarget.FollowInEditMode |
If true the target will follow the robot in edit mode.
◆ InterpolationToTarget
Interploation realvirtual.IKTarget.InterpolationToTarget |
Interpolation to target.
◆ LinearAcceleration
float realvirtual.IKTarget.LinearAcceleration |
Linear acceleration in mm/s^2.
◆ LinearSpeedToTarget
float realvirtual.IKTarget.LinearSpeedToTarget |
Linear speed to target in mm/s.
◆ PickAndPlace
bool realvirtual.IKTarget.PickAndPlace |
Wait for signal after target is reached.
◆ PositionCorrection
Vector3 realvirtual.IKTarget.PositionCorrection |
Correction of the position (because of inaccuracies of the robotik)
◆ PositionFailure
float realvirtual.IKTarget.PositionFailure |
Position failure in m.
◆ PosRH
Vector3 realvirtual.IKTarget.PosRH |
Position of the target in right handed robot coordinates.
◆ Reachable
bool realvirtual.IKTarget.Reachable |
If true the target is reachable by the robot.
◆ RobotIK
RobotIK realvirtual.IKTarget.RobotIK |
Robot IK of the robot.
◆ RotRH
Vector3 realvirtual.IKTarget.RotRH |
Rotation of the target in right handed robot coordinates.
◆ SetSignal
PLCInputBool realvirtual.IKTarget.SetSignal |
Set Signal if target is reached.
◆ SetSignalDuration
float realvirtual.IKTarget.SetSignalDuration |
Duration of the set signal in seconds.
◆ Solution
int realvirtual.IKTarget.Solution |
Solution to use of the IK for this target.
◆ Solutions
string [] realvirtual.IKTarget.Solutions |
Solutions of the IK for this target.
◆ SpeedToTarget
float realvirtual.IKTarget.SpeedToTarget |
Speed to target in percent.
◆ TurnCorrection
bool realvirtual.IKTarget.TurnCorrection |
If true the robot will do the 180 degree turn correction of axis 4 and 6.
◆ WaitForSeconds
float realvirtual.IKTarget.WaitForSeconds |
Wait for seconds after target is reached.