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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:
realvirtual.BehaviorInterface realvirtual.realvirtualBehavior realvirtual.ISignalInterface

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< 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

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< 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

- 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]