private static void ShowTarget(Vector3 position, Vector3 orientation)
{
try
{
//get the active station
Station station = Project.ActiveProject as Station;
//create robtarget
RsRobTarget robTarget = new RsRobTarget();
robTarget.Name = station.ActiveTask.GetValidRapidName("Target", "_", 10);
//translation
robTarget.Frame.Translation = position;
// Otrienting the targets and converts the orientation to radians
robTarget.Frame.RX = (orientation.x * (Math.PI / 180));
robTarget.Frame.RY = (orientation.y * (Math.PI / 180));
robTarget.Frame.RZ = (orientation.z * (Math.PI / 180));
//add robtargets to datadeclaration
station.ActiveTask.DataDeclarations.Add(robTarget);
//create target
RsTarget target = new RsTarget(station.ActiveTask.ActiveWorkObject, robTarget);
target.Name = robTarget.Name;
target.Attributes.Add(target.Name, true);
//add targets to active task
station.ActiveTask.Targets.Add(target);
}
catch (Exception exception)
{
Logger.AddMessage(new LogMessage(exception.Message.ToString()));
}
}
public RsTarget CreateTarget(DGeom.Plane targetPlane)
{
try
{
//create robtarget
RsRobTarget robTarget = new RsRobTarget();
robTarget.Name = rsTask.GetValidRapidName("Target", "_", 1);
//translation
double[] trans = PlaneToTransform(targetPlane);
robTarget.Frame.Translation = new Vector3(trans[0], trans[1], trans[2]);
robTarget.Frame.RX = trans[3];
robTarget.Frame.RY = trans[4];
robTarget.Frame.RZ = trans[5];
//add robtargets to datadeclaration
// rsTask.DataDeclarations.Add(robTarget);
//create target
RsTarget target = new RsTarget(rsWobj, robTarget);
target.Name = robTarget.Name;
target.Attributes.Add(target.Name, true);
//add targets to active task
//rsTask.Targets.Add(target);
return(target);
}
catch (Exception exception)
{
}
return(null);
}
static RsRobTarget CreateRobTargetAndTarget(Matrix4 frame, RsTask task, RsWorkObject wobj)
{
if (!_targetNumberInitialized)
{
InitializeTargetNumber(task);
}
var robTarget = new RsRobTarget();
robTarget.Frame.GlobalMatrix = frame;
robTarget.Name = TargetNamePrefix + _targetNumber++;
// HACK: Ensure that eax values are set for conveyor. *Will* lead to issues with other
// external axes.
robTarget.SetExternalAxes(new ExternalAxisValues
{
Eax_a = 0,
Eax_b = 0,
Eax_c = 0,
Eax_d = 0,
Eax_e = 0,
Eax_f = 0
}, false);
task.DataDeclarations.Add(robTarget);
var target = new RsTarget(wobj, robTarget);
target.Transform.GlobalMatrix = frame;
task.Targets.Add(target);
return(robTarget);
}
private static void ShowTarget(string targetName, Vector3 position)
{
try
{
//get the active station
Station station = Project.ActiveProject as Station;
//create robtarget
RsRobTarget robTarget = new RsRobTarget();
robTarget.Name = station.ActiveTask.GetValidRapidName(targetName, "_", 10);
//translation
robTarget.Frame.Translation = position;
//add robtargets to datadeclaration
station.ActiveTask.DataDeclarations.Add(robTarget);
//create target
RsTarget target = new RsTarget(station.ActiveTask.ActiveWorkObject, robTarget);
target.Name = robTarget.Name;
target.Attributes.Add(target.Name, true);
//add targets to active task
station.ActiveTask.Targets.Add(target);
// add target to list
targets.Add(target);
}
catch (Exception exception)
{
Logger.AddMessage(new LogMessage(exception.Message.ToString()));
}
}
public static void ObtainPosition()
{
#region Get the position of the selected object
Project.UndoContext.BeginUndoStep("Get the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
// Asign the object position and orientation values to the vars
PosX = selectedPart.Transform.X;
PosY = selectedPart.Transform.Y;
PosZ = selectedPart.Transform.Z;
DegX = selectedPart.Transform.RX;
DegY = selectedPart.Transform.RY;
DegZ = selectedPart.Transform.RZ;
Logger.AddMessage(new LogMessage(selectedPart.Name.ToString() + " Position copied" +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
// The position obtained in RsRobTarget is relative to its WorkObject and we want it from the station origin (World).
// We can get the relative distance betwen the Target and the station origin with "GetRelativeTrasform"
RsWorkObject myWobj = new RsWorkObject(); // New WorkObject without position (it'll be created at 0,0,0) to define the RsTarget
RsRobTarget myRsRobTarget = new RsRobTarget(); // New RsRobTarget without position to define the RsTarget.
RsTarget myRsTarget = new RsTarget(myWobj, myRsRobTarget); // New RsTarget to use in the "GetRelativeTransform"
Matrix4 relMx = (selectedRsTarget.Transform.GetRelativeTransform(myRsTarget));
// Asing the objetc values to the position and orientation vars
PosX = relMx.Translation.x;
PosY = relMx.Translation.y;
PosZ = relMx.Translation.z;
DegX = relMx.EulerZYX.x;
DegY = relMx.EulerZYX.y;
DegZ = relMx.EulerZYX.z;
// RsTarget copied message
Logger.AddMessage(new LogMessage(selectedRsTarget.Name.ToString() + " Position copied" +
" [X = " + relMx.Translation.x * 1000 +
", Y = " + relMx.Translation.y * 1000 +
", Z = " + relMx.Translation.z * 1000 +
", Rx = " + Globals.RadToDeg(relMx.EulerZYX.x) +
", Ry = " + Globals.RadToDeg(relMx.EulerZYX.y) +
", Rz = " + Globals.RadToDeg(relMx.EulerZYX.z) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asign the object position and orientation values to the vars
PosX = selectedWorkObject.UserFrame.X;
PosY = selectedWorkObject.UserFrame.Y;
PosZ = selectedWorkObject.UserFrame.Z;
DegX = selectedWorkObject.UserFrame.RX;
DegY = selectedWorkObject.UserFrame.RY;
DegZ = selectedWorkObject.UserFrame.RZ;
Logger.AddMessage(new LogMessage(selectedWorkObject.Name.ToString() + " Position copied" +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
#endregion
}
public static void SetPosition()
{
#region Set the position of the selected object
Project.UndoContext.BeginUndoStep("Set the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
#region Log Position and Orientation
// Asign the var values to the object position and orientation
selectedPart.Transform.X = PosX;
selectedPart.Transform.Y = PosY;
selectedPart.Transform.Z = PosZ;
selectedPart.Transform.RX = DegX;
selectedPart.Transform.RY = DegY;
selectedPart.Transform.RZ = DegZ;
#endregion
Logger.AddMessage(new LogMessage("Position applied to " + selectedPart.Name.ToString() +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
RsWorkObject myWobj_origen = selectedRsTarget.WorkObject;
RsRobTarget myRsRobTarget_origen = new RsRobTarget();
RsTarget myRsTarget_origen = new RsTarget(myWobj_origen, myRsRobTarget_origen);
RsWorkObject myWobj_dest = new RsWorkObject();
RsRobTarget myRsRobTarget_dest = new RsRobTarget();
myRsRobTarget_dest.Frame.X = PosX;
myRsRobTarget_dest.Frame.Y = PosY;
myRsRobTarget_dest.Frame.Z = PosZ;
myRsRobTarget_dest.Frame.RX = DegX;
myRsRobTarget_dest.Frame.RY = DegY;
myRsRobTarget_dest.Frame.RZ = DegZ;
RsTarget myRsTarget_dest = new RsTarget(myWobj_dest, myRsRobTarget_dest);
Matrix4 relMx = (myRsTarget_dest.Transform.GetRelativeTransform(myRsTarget_origen));
// Asign the var values to the object position and orientation
selectedRsTarget.Transform.X = relMx.Translation.x;
selectedRsTarget.Transform.Y = relMx.Translation.y;
selectedRsTarget.Transform.Z = relMx.Translation.z;
selectedRsTarget.Transform.RX = relMx.EulerZYX.x;
selectedRsTarget.Transform.RY = relMx.EulerZYX.y;
selectedRsTarget.Transform.RZ = relMx.EulerZYX.z;
Logger.AddMessage(new LogMessage("Position applied to " + selectedRsTarget.Name.ToString() +
" [X = " + myRsTarget_dest.Transform.X * 1000 +
", Y = " + myRsTarget_dest.Transform.Y * 1000 +
", Z = " + myRsTarget_dest.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(myRsTarget_dest.Transform.RX) +
", Ry = " + Globals.RadToDeg(myRsTarget_dest.Transform.RY) +
", Rz = " + Globals.RadToDeg(myRsTarget_dest.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asign the object values to the vars position and orientation
selectedWorkObject.UserFrame.X = PosX;
selectedWorkObject.UserFrame.Y = PosY;
selectedWorkObject.UserFrame.Z = PosZ;
selectedWorkObject.UserFrame.RX = DegX;
selectedWorkObject.UserFrame.RY = DegY;
selectedWorkObject.UserFrame.RZ = DegZ;
Logger.AddMessage(new LogMessage("Position applied to " + selectedWorkObject.Name.ToString() +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch (Exception execption)
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
Logger.AddMessage(new LogMessage(execption.Message.ToString()));
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
}
public static void ObtainPosition()
{
#region Get the position of the selected object
Project.UndoContext.BeginUndoStep("Get the position of the selected object");
try
{
// Get the selected Part.
#region SelectPart1
Part selectedPart = Selection.SelectedObjects.SingleSelectedObject as Part;
#endregion
// Get the selected WorkObject.
#region SelectWorkObject1
RsWorkObject selectedWorkObject = Selection.SelectedObjects.SingleSelectedObject as RsWorkObject;
#endregion
// Get the selected RsTarget.
#region SelectRsTarget1
RsTarget selectedRsTarget = Selection.SelectedObjects.SingleSelectedObject as RsTarget;
#endregion
// Check if there is a part selected.
#region SelectPart2
if (selectedPart != null)
{
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = selectedPart.Transform.X;
PosY = selectedPart.Transform.Y;
PosZ = selectedPart.Transform.Z;
DegX = selectedPart.Transform.RX;
DegY = selectedPart.Transform.RY;
DegZ = selectedPart.Transform.RZ;
// Mensaje del part copiado
// (rselectedPart.Transform.RX * 180) / System.Math.PI
// Globals.RadToDeg(selectedPart.Transform.RX)
Logger.AddMessage(new LogMessage(selectedPart.Name.ToString() + " Position copied" +
" [X = " + selectedPart.Transform.X * 1000 +
", Y = " + selectedPart.Transform.Y * 1000 +
", Z = " + selectedPart.Transform.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedPart.Transform.RX) +
", Ry = " + Globals.RadToDeg(selectedPart.Transform.RY) +
", Rz = " + Globals.RadToDeg(selectedPart.Transform.RZ) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a RsTarget selected.
#region SelectRsTarget2
if (selectedRsTarget != null)
{
// La posición que nos muestra directamenta el RsRobTarget es relativo a su WorkObject y nosotros lo queremos
// relativo al origen de la estación (mundo).
// Obtenemos la distancia relativa entre el punto y el origen de la estación con "GetRelativeTransform"
RsWorkObject myWobj = new RsWorkObject(); // Declaramos un WorkObject sin definirle posición para que lo cree en el 0,0,0 (para definir el RsTarget)
RsRobTarget myRsRobTarget = new RsRobTarget(); // Declaramos un RsRobTarget sin posición (para definir el RsTarget)
RsTarget myRsTarget = new RsTarget(myWobj, myRsRobTarget); // Declaramos el RsTarget para utilizarlo en "GetRelativeTransform"
Matrix4 relMx = (selectedRsTarget.Transform.GetRelativeTransform(myRsTarget));
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = relMx.Translation.x;
PosY = relMx.Translation.y;
PosZ = relMx.Translation.z;
DegX = relMx.EulerZYX.x;
DegY = relMx.EulerZYX.y;
DegZ = relMx.EulerZYX.z;
// Mensaje del RsTarget copiado
Logger.AddMessage(new LogMessage(selectedRsTarget.Name.ToString() + " Position copied" +
" [X = " + relMx.Translation.x * 1000 +
", Y = " + relMx.Translation.y * 1000 +
", Z = " + relMx.Translation.z * 1000 +
", Rx = " + Globals.RadToDeg(relMx.EulerZYX.x) +
", Ry = " + Globals.RadToDeg(relMx.EulerZYX.y) +
", Rz = " + Globals.RadToDeg(relMx.EulerZYX.z) +
"]", "Puime's Add-in"));
return;
}
#endregion
// Check if there is a WorkObject selected.
#region SelectedWorkObject2
if (selectedWorkObject != null)
{
// Asignamos los valores del objeto a las variables de posición y orientación
PosX = selectedWorkObject.UserFrame.X;
PosY = selectedWorkObject.UserFrame.Y;
PosZ = selectedWorkObject.UserFrame.Z;
DegX = selectedWorkObject.UserFrame.RX;
DegY = selectedWorkObject.UserFrame.RY;
DegZ = selectedWorkObject.UserFrame.RZ;
// Mensaje del WorkObject copiado
Logger.AddMessage(new LogMessage(selectedWorkObject.Name.ToString() + " Position copied" +
" [X = " + selectedWorkObject.UserFrame.X * 1000 +
", Y = " + selectedWorkObject.UserFrame.Y * 1000 +
", Z = " + selectedWorkObject.UserFrame.Z * 1000 +
", Rx = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RX) +
", Ry = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RY) +
", Rz = " + Globals.RadToDeg(selectedWorkObject.UserFrame.RZ) +
"]", "Puime's Add-in"));
return;
}
else
{
MessageBox.Show("Please, select a Part, a Target or a WorkObject.");
}
}
catch
{
Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
throw;
}
finally
{
Project.UndoContext.EndUndoStep();
}
#endregion
#endregion
}
