realvirtual.IKTarget Class Reference

Robot Inverse Kinematics - a target of the robot - the position and rotation of this gameobject transform.

Inheritance diagram for realvirtual.IKTarget:

Public Types
enum	Interploation
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly

Public Member Functions
void	OnAtTarget ()
Vector3	GetCorrectedGlobalPosition ()
void	OnLeaveTarget ()
void	SetAsTarget ()
void	DriveTo ()
void	SetCorrection ()
void	ClearCorrection ()
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
bool	FollowInEditMode =true
	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 = 1
	Speed to target in percent.
float	LinearAcceleration = 100
	Linear acceleration in mm/s^2.
Interploation	InterpolationToTarget
	Interpolation to target.
float	LinearSpeedToTarget = 500
	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 = new float[6]
	Correction of the axis in degrees.
Vector3	PositionCorrection = new Vector3(0, 0, 0)
	Correction of the position (because of inaccuracies of the robotik)
float	PositionFailure = 0
	Position failure in m.
PLCInputBool	SetSignal
	Set Signal if target is reached.
float	SetSignalDuration = 0.5f
	Duration of the set signal in seconds.
float	WaitForSeconds = 0
	Wait for seconds after target is reached.
PLCOutputBool	WaitForSignal
	Wait for signal after target is reached.
int	Solution
	Solution to use of the IK for this target.
string[]	Solutions = new string[8]
	Solutions of the IK for this target.
float[]	AxisPos = new float[6]
	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.
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
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]