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Kinova.DLL.Data.Jaco.Config.CZone Class Reference

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...
 

Detailed Description

This class represents a 3D zone with some limitation.

Constructor & Destructor Documentation

Kinova.DLL.Data.Jaco.Config.CZone.CZone ( )

Initializes a new instance of the CZone class.

Member Function Documentation

static CZone Kinova.DLL.Data.Jaco.Config.CZone.CreateBaseZoneXY ( CPoint3d  p1,
CPoint3d  p2,
CPoint3d  p3,
CPoint3d  p4,
float  height,
float  speedLimitLin,
float  speedLimitAng 
)
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);

Parameters
p1The p1.
p2The p2.
p3The p3.
p4The p4.
heightThe height.
speedLimitLinThe linear speed limit.
speedLimitAngThe angular speed limit.
Returns
The new zone
void Kinova.DLL.Data.Jaco.Config.CZone.Init ( )

Inits this instance.

Property Documentation

int Kinova.DLL.Data.Jaco.Config.CZone.Expansion1
getset

Backup data for future use.

The expansion1.

int Kinova.DLL.Data.Jaco.Config.CZone.Expansion2
getset

Backup data for future use.

The expansion2.

int Kinova.DLL.Data.Jaco.Config.CZone.ID
getset

A value to identify the Zone.

The ID.

CZoneLimitation Kinova.DLL.Data.Jaco.Config.CZone.ZoneLimitation
getset

The limitation you want to apply to this zone.

The zone limitation.

CZoneShape Kinova.DLL.Data.Jaco.Config.CZone.ZoneShape
getset

Describes and determines the shape of the zone.

The zone shape.


The documentation for this class was generated from the following file: