realvirtual.IKTarget Class Reference

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

Inheritance diagram for realvirtual.IKTarget:

Public Types
enum	Interploation { PointToPoint , PointToPointUnsynced , Linear }
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }

Public Member Functions
void	OnAtTarget ()
Vector3	GetCorrectedGlobalPosition ()
void	OnLeaveTarget ()
void	SetAsTarget ()
void	DriveTo ()
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
virtual void	OnOwnershipChanged (bool isOwner)
	Called when network ownership changes.
void	SetNetworkOwner (bool isOwner)
	Sets IsNetworkOwner and triggers OnOwnershipChanged callback.
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, bool includeTriggers=true)
	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 warning 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.
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
	Fixer component for pick and place operations (legacy)
Grip	gripTarget
	Grip component for simplified pick and place (alternative to fixer)
bool	Pick
bool	Place
bool	EnableBlending
	Enables zone blending - robot transitions to next target at BlendRadius distance instead of stopping exactly at this target.
float	BlendRadius
	Blend radius in millimeters - robot starts moving toward next target when within this distance of the current target.
int	Solution
	Raw IK solution index (0-7 for Pieper seeds) identifying the physical robot configuration.
string[]	Solutions
	Sorted reachable solutions of the IK for this target (index 0 = closest to reference angles)
int[]	SolutionRawIndices
	Maps sorted display position to raw IK solution index (SolutionRawIndices[displayPos] = rawIndex)
int	ReachableSolutionCount
	Number of reachable IK solutions found.
float[]	AxisPos
	Axis positions of the IK for this target.
float[]	ReferenceAngles
	Reference joint angles used for sorting solutions (from previous path target or current robot position)
RobotIK	RobotIK
	Robot IK of the robot.
bool	Reachable
	If true the target is reachable by the robot.
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
bool	IsNetworkOwner
	True when this component owns its simulation (local authority). Set to false by MultiplayerWEB on remote clients.

Additional Inherited Members
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

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.

BlendRadius

float realvirtual.IKTarget.BlendRadius

Blend radius in millimeters - robot starts moving toward next target when within this distance of the current target.

EnableBlending

bool realvirtual.IKTarget.EnableBlending

Enables zone blending - robot transitions to next target at BlendRadius distance instead of stopping exactly at this target.

fixer

Fixer realvirtual.IKTarget.fixer

Fixer component for pick and place operations (legacy)

FollowInEditMode

bool realvirtual.IKTarget.FollowInEditMode

If true the target will follow the robot in edit mode.

gripTarget

Grip realvirtual.IKTarget.gripTarget

Grip component for simplified pick and place (alternative to fixer)

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.

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.

ReachableSolutionCount

int realvirtual.IKTarget.ReachableSolutionCount

Number of reachable IK solutions found.

ReferenceAngles

float [] realvirtual.IKTarget.ReferenceAngles

Reference joint angles used for sorting solutions (from previous path target or current robot position)

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

Raw IK solution index (0-7 for Pieper seeds) identifying the physical robot configuration.

SolutionRawIndices

int [] realvirtual.IKTarget.SolutionRawIndices

Maps sorted display position to raw IK solution index (SolutionRawIndices[displayPos] = rawIndex)

Solutions

string [] realvirtual.IKTarget.Solutions

Sorted reachable solutions of the IK for this target (index 0 = closest to reference angles)

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.