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API C#
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This class represents a 3D zone with some limitation. More...
Public Member Functions | |
| CZone () | |
| Initializes a new instance of the CZone class. More... | |
| void | Init () |
| Inits this instance. More... | |
Static Public Member Functions | |
| static CZone | CreateBaseZoneXY (CPoint3d p1, CPoint3d p2, CPoint3d p3, CPoint3d p4, float height, float speedLimitLin, float speedLimitAng) |
| Create a rectangular prism 3D Zone with specific restriction. The zone creation is based on 4 points(a square) and a value for the prism's height. More... | |
Properties | |
| int | ID [get, set] |
| A value to identify the Zone. More... | |
| int | Expansion1 [get, set] |
| Backup data for future use. More... | |
| CZoneShape | ZoneShape [get, set] |
| Describes and determines the shape of the zone. More... | |
| CZoneLimitation | ZoneLimitation [get, set] |
| The limitation you want to apply to this zone. More... | |
| int | Expansion2 [get, set] |
| Backup data for future use. More... | |
This class represents a 3D zone with some limitation.
| Kinova.DLL.Data.Jaco.Config.CZone.CZone | ( | ) |
Initializes a new instance of the CZone class.
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static |
Create a rectangular prism 3D Zone with specific restriction. The zone creation is based on 4 points(a square) and a value for the prism's height.
// Say we want to create 2 zone. The first one is a zone that Jaco can't go and the second is a zone that Jaco can access but with a lower speed.
// We declare the 2 zones CZone zoneNoGo = new CZone(); CZone zoneSlow; = new CZone();
// We declare the 4 points of the NoGo zone. CJacoStructures.Point3d p1_NoGo = new CJacoStructures.Point3d(); CJacoStructures.Point3d p2_NoGo = new CJacoStructures.Point3d(); CJacoStructures.Point3d p3_NoGo = new CJacoStructures.Point3d(); CJacoStructures.Point3d p4_NoGo = new CJacoStructures.Point3d();
// We Declare 4 points for the Slow zone. CJacoStructures.Point3d p1_Slow = new CJacoStructures.Point3d(); CJacoStructures.Point3d p2_Slow = new CJacoStructures.Point3d(); CJacoStructures.Point3d p3_Slow = new CJacoStructures.Point3d(); CJacoStructures.Point3d p4_Slow = new CJacoStructures.Point3d();
float SlowZoneLinearSpeed = 5.0f; float SlowZoneAngularSpeed = 5.0f; float Height = 40.0f;
... // We set all the points. ...
// We create the 2 zones. // On créer les 2 zones. zoneNoGo = CZonesConfigurations.CreateBaseZoneXY(p1_NoGo, p2_NoGo, p3_NoGo, p4_NoGo, height, 0, 0); zoneSlow = CZonesConfigurations.CreateBaseZoneXY(p1_slow, p2_Slow, p3_Slow, p4_Slow, height, SlowZoneLinearSpeed, SlowZoneAngularSpeed);
| p1 | The p1. |
| p2 | The p2. |
| p3 | The p3. |
| p4 | The p4. |
| height | The height. |
| speedLimitLin | The linear speed limit. |
| speedLimitAng | The angular speed limit. |
| void Kinova.DLL.Data.Jaco.Config.CZone.Init | ( | ) |
Inits this instance.
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getset |
Backup data for future use.
The expansion1.
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getset |
Backup data for future use.
The expansion2.
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getset |
A value to identify the Zone.
The ID.
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getset |
The limitation you want to apply to this zone.
The zone limitation.
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getset |
Describes and determines the shape of the zone.
The zone shape.