Table of Contents

Class InstructionListJointsResult.JointsResult

Namespace
RoboDk.API.Model
Assembly
RoboDkApi.dll
public class InstructionListJointsResult.JointsResult
Inheritance
InstructionListJointsResult.JointsResult
Inherited Members

Constructors

JointsResult(JointsResult) 

public JointsResult(InstructionListJointsResult.JointsResult other)

Parameters

other InstructionListJointsResult.JointsResult

JointsResult(int, double[], double[], double[], int, SimulationErrorFlags, double, double, double) 

public JointsResult(int moveId, double[] joints, double[] speeds, double[] accelerations, int pathSimulationErrorCode, SimulationErrorFlags simulationErrorFlags, double linearStep, double jointStep, double timeStep)

Parameters

moveId int
joints double[]
speeds double[]
accelerations double[]
pathSimulationErrorCode int
simulationErrorFlags SimulationErrorFlags
linearStep double
jointStep double
timeStep double

Properties

Accelerations

Joint Accelerations (for each joint), empty if ListJointsType flag less than 3

public double[] Accelerations { get; }

Property Value

double[]

HasCollision

True if joint position is causing a collision.

public bool HasCollision { get; }

Property Value

bool

JointStep

Maximum step for joint movements (degrees)

public double JointStep { get; }

Property Value

double

Joints

Joint positions (array length = number of axis)

public double[] Joints { get; }

Property Value

double[]

LinearStep

Maximum step in millimeters for linear movements (millimeters)

public double LinearStep { get; }

Property Value

double

MoveId

Identifies the Target (Frame) to which the position belongs too.

public int MoveId { get; }

Property Value

int

PathSimulationErrorCode

Simulation Error Code (raw value returned by RoboDK)

public int PathSimulationErrorCode { get; }

Property Value

int

SimulationErrorFlags

Raw Error Code (PathSimulationErrorCode) translated into SimulationErrorFlags.

public SimulationErrorFlags SimulationErrorFlags { get; }

Property Value

SimulationErrorFlags

Speeds

Joint Speeds (for each joint), empty if ListJointsType flag less than 2

public double[] Speeds { get; }

Property Value

double[]

TimeStep

Time between joint positions

public double TimeStep { get; }

Property Value

double