realvirtual.RobotIK Class Reference
Provides industrial robot inverse kinematics for 6-axis robotic arms with advanced path planning and motion control. More...
Inheritance diagram for realvirtual.RobotIK:
Public Member Functions | |
| Vector3 | GetTCPPosGlobal () |
| Quaternion | GetTCPRotGlobal () |
| void | TargetMoveEditMode (bool active) |
| void | MoveEditMode () |
| void | ToHomePos () |
| void | SetTCP (GameObject tcp) |
| void | SetTargetProperties (IKTarget target) |
| void | SolveIK (IKTarget target) |
| bool | PositionRobotGlobal (Vector3 globalpos, Quaternion globalrot, int Solution, bool TurnCorrection) |
 Public Member Functions inherited from realvirtual.realvirtualBehavior | |
| 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 | |
| int | Solution |
| The current solution of the IK calculation. | |
| string[] | Solutions |
| The solutions of the IK calculation. | |
| bool | MoveInEditMode |
| Move the robot in edit mode. | |
| bool | FollowTarget |
| Follow the target in edit mode. | |
| IKTarget | Target |
| The target to follow in edit mode. | |
| Vector3 | TargetPosRightHanded |
| The target position in right handed coordinates. | |
| Vector3 | TargetRotRightHanded |
| The target rotation in right handed coordinates. | |
| bool | ElbowInUnityX |
| The elbow is in the Unity X direction. | |
| Drive[] | Axis |
| The drives of the robot. | |
| GameObject | TCP |
| The TCP of the robot | |
| IKTarget | HomePosOnStart |
| The home position of the robot on start. | |
| Vector3 | ToolOffset |
| The tool offset of the TCP. | |
| double | a1 |
| The a1 parameter of the robot. | |
| double | a2 |
| double | b |
| double | c1 |
| double | c2 |
| double | c3 |
| double | c4 |
| The a2, b, c1, c2, c3, c4 parameter of the robot. | |
| 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 |
Additional Inherited Members | |
| Public Types inherited from realvirtual.realvirtualBehavior | |
| enum | ActiveOnly { Always , Connected , Disconnected , Never , DontChange } |
| 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 () |
Detailed Description
Provides industrial robot inverse kinematics for 6-axis robotic arms with advanced path planning and motion control.
This professional component enables precise robot control through inverse kinematics calculations, supporting multiple IK solutions, TCP management, and seamless integration with drive systems. Used for virtual commissioning of robotic cells, path validation, and cycle time optimization in industrial automation scenarios.
Member Function Documentation
◆ SetTargetProperties()
| void realvirtual.RobotIK.SetTargetProperties | ( | IKTarget | target | ) |
Don't display / update on playing because of NaughtyAttributes bug
Member Data Documentation
◆ a1
| double realvirtual.RobotIK.a1 |
The a1 parameter of the robot.
◆ Axis
| Drive [] realvirtual.RobotIK.Axis |
The drives of the robot.
◆ c4
| double realvirtual.RobotIK.c4 |
The a2, b, c1, c2, c3, c4 parameter of the robot.
◆ ElbowInUnityX
| bool realvirtual.RobotIK.ElbowInUnityX |
The elbow is in the Unity X direction.
◆ FollowTarget
| bool realvirtual.RobotIK.FollowTarget |
Follow the target in edit mode.
◆ HomePosOnStart
| IKTarget realvirtual.RobotIK.HomePosOnStart |
The home position of the robot on start.
◆ MoveInEditMode
| bool realvirtual.RobotIK.MoveInEditMode |
Move the robot in edit mode.
◆ Solution
| int realvirtual.RobotIK.Solution |
The current solution of the IK calculation.
◆ Solutions
| string [] realvirtual.RobotIK.Solutions |
The solutions of the IK calculation.
◆ Target
| IKTarget realvirtual.RobotIK.Target |
The target to follow in edit mode.
◆ TargetPosRightHanded
| Vector3 realvirtual.RobotIK.TargetPosRightHanded |
The target position in right handed coordinates.
◆ TargetRotRightHanded
| Vector3 realvirtual.RobotIK.TargetRotRightHanded |
The target rotation in right handed coordinates.
◆ TCP
| GameObject realvirtual.RobotIK.TCP |
The TCP of the robot
◆ ToolOffset
| Vector3 realvirtual.RobotIK.ToolOffset |
The tool offset of the TCP.