Class PnPModelItemsHelper

Helper methods for Pick and Place item interfaces: ICamIpcPnPStartItem, ICamIpcPnPPickItem, ICamIpcPnPPlaceItem, ICamIpcPnPEndItem, ICamIpcPnPMoveItem, ICamIpcPnPClearanceItem.

Inheritance

object

PnPModelItemsHelper

Inherited Members

object.GetType()

object.MemberwiseClone()

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

Namespace: CAMIPC.DotnetHelper

Assembly: CAMIPC.DotnetHelper.dll

Syntax

public static class PnPModelItemsHelper

Methods

GetAxesMode(ComWrapper<ICamIpcPnPClearanceItem>)

Axes mode for the clearance move (all axes, position only, etc.).

Declaration

public static TModelFormerPnPAxesMode GetAxesMode(this ComWrapper<ICamIpcPnPClearanceItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c

Returns

Type	Description
TModelFormerPnPAxesMode

GetClearanceItem(ComWrapper<ICamIpcPnPPickItem>)

Returns the clearance item associated with the pick point.

Declaration

public static ComWrapper<ICamIpcPnPClearanceItem> GetClearanceItem(this ComWrapper<ICamIpcPnPPickItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPickItem>	c

Returns

Type	Description
ComWrapper<ICamIpcPnPClearanceItem>

GetClearanceItem(ComWrapper<ICamIpcPnPPlaceItem>)

Returns the clearance item associated with the place point.

Declaration

public static ComWrapper<ICamIpcPnPClearanceItem> GetClearanceItem(this ComWrapper<ICamIpcPnPPlaceItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPlaceItem>	c

Returns

Type	Description
ComWrapper<ICamIpcPnPClearanceItem>

GetIs6D(ComWrapper<ICamIpcPnPMoveItem>)

When true, the move uses 6D positioning (position + orientation).

Declaration

public static bool GetIs6D(this ComWrapper<ICamIpcPnPMoveItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c

Returns

Type	Description
bool

GetMatrix(ComWrapper<ICamIpcPnPEndItem>)

Position and orientation of the end (return) point (4×4 homogeneous matrix).

Declaration

public static TST3DMatrix GetMatrix(this ComWrapper<ICamIpcPnPEndItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPEndItem>	c

Returns

Type	Description
TST3DMatrix

GetMatrix(ComWrapper<ICamIpcPnPMoveItem>)

Position and orientation of the intermediate move point (4×4 homogeneous matrix).

Declaration

public static TST3DMatrix GetMatrix(this ComWrapper<ICamIpcPnPMoveItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c

Returns

Type	Description
TST3DMatrix

GetMatrix(ComWrapper<ICamIpcPnPPickItem>)

Position and orientation of the pick point (4×4 homogeneous matrix).

Declaration

public static TST3DMatrix GetMatrix(this ComWrapper<ICamIpcPnPPickItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPickItem>	c

Returns

Type	Description
TST3DMatrix

GetMatrix(ComWrapper<ICamIpcPnPStartItem>)

Position and orientation of the start point (4×4 homogeneous matrix).

Declaration

public static TST3DMatrix GetMatrix(this ComWrapper<ICamIpcPnPStartItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPStartItem>	c

Returns

Type	Description
TST3DMatrix

GetMotionType(ComWrapper<ICamIpcPnPClearanceItem>)

Motion type for the clearance move.

Declaration

public static TModelFormerPnPMotionType GetMotionType(this ComWrapper<ICamIpcPnPClearanceItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c

Returns

Type	Description
TModelFormerPnPMotionType

GetMotionType(ComWrapper<ICamIpcPnPMoveItem>)

Motion type (linear, circular, etc.) for this intermediate point.

Declaration

public static TModelFormerPnPMotionType GetMotionType(this ComWrapper<ICamIpcPnPMoveItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c

Returns

Type	Description
TModelFormerPnPMotionType

GetPickOnly(ComWrapper<ICamIpcPnPPickItem>)

When true, the robot only picks (no placement).

Declaration

public static bool GetPickOnly(this ComWrapper<ICamIpcPnPPickItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPickItem>	c

Returns

Type	Description
bool

GetPointEnabled(ComWrapper<ICamIpcPnPEndItem>)

When true, the robot returns to the end point after placing.

Declaration

public static bool GetPointEnabled(this ComWrapper<ICamIpcPnPEndItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPEndItem>	c

Returns

Type	Description
bool

GetPosLength(ComWrapper<ICamIpcPnPClearanceItem>)

Clearance distance along the axis (used when PositionType is AlongAxis).

Declaration

public static double GetPosLength(this ComWrapper<ICamIpcPnPClearanceItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c

Returns

Type	Description
double

GetPositionType(ComWrapper<ICamIpcPnPClearanceItem>)

How the clearance position is calculated (along axis, custom point, etc.).

Declaration

public static TModelFormerPnPClearanceType GetPositionType(this ComWrapper<ICamIpcPnPClearanceItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c

Returns

Type	Description
TModelFormerPnPClearanceType

GetRelativeTo(ComWrapper<ICamIpcPnPMoveItem>)

Specifies what the intermediate point is relative to (world, pick, place, etc.).

Declaration

public static TModelFormerPnPRelativeType GetRelativeTo(this ComWrapper<ICamIpcPnPMoveItem> c)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c

Returns

Type	Description
TModelFormerPnPRelativeType

SetAxesMode(ComWrapper<ICamIpcPnPClearanceItem>, TModelFormerPnPAxesMode)

Sets the axes mode for the clearance move.

Declaration

public static void SetAxesMode(this ComWrapper<ICamIpcPnPClearanceItem> c, TModelFormerPnPAxesMode value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c
TModelFormerPnPAxesMode	value

SetIs6D(ComWrapper<ICamIpcPnPMoveItem>, bool)

Sets whether 6D positioning is used for this move point.

Declaration

public static void SetIs6D(this ComWrapper<ICamIpcPnPMoveItem> c, bool value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c
bool	value

SetMatrix(ComWrapper<ICamIpcPnPMoveItem>, TST3DMatrix)

Sets the position and orientation of the intermediate move point.

Declaration

public static void SetMatrix(this ComWrapper<ICamIpcPnPMoveItem> c, TST3DMatrix value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c
TST3DMatrix	value

SetMatrix(ComWrapper<ICamIpcPnPPickItem>, TST3DMatrix)

Sets the position and orientation of the pick point.

Declaration

public static void SetMatrix(this ComWrapper<ICamIpcPnPPickItem> c, TST3DMatrix value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPickItem>	c
TST3DMatrix	value

SetMotionType(ComWrapper<ICamIpcPnPClearanceItem>, TModelFormerPnPMotionType)

Sets the motion type for the clearance move.

Declaration

public static void SetMotionType(this ComWrapper<ICamIpcPnPClearanceItem> c, TModelFormerPnPMotionType value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c
TModelFormerPnPMotionType	value

SetMotionType(ComWrapper<ICamIpcPnPMoveItem>, TModelFormerPnPMotionType)

Sets the motion type for this intermediate point.

Declaration

public static void SetMotionType(this ComWrapper<ICamIpcPnPMoveItem> c, TModelFormerPnPMotionType value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c
TModelFormerPnPMotionType	value

SetPickOnly(ComWrapper<ICamIpcPnPPickItem>, bool)

Sets whether the operation is pick-only (no placement).

Declaration

public static void SetPickOnly(this ComWrapper<ICamIpcPnPPickItem> c, bool value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPPickItem>	c
bool	value

SetPointEnabled(ComWrapper<ICamIpcPnPEndItem>, bool)

Sets whether the end (return) point is active.

Declaration

public static void SetPointEnabled(this ComWrapper<ICamIpcPnPEndItem> c, bool value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPEndItem>	c
bool	value

SetPosLength(ComWrapper<ICamIpcPnPClearanceItem>, double)

Sets the clearance distance along the axis.

Declaration

public static void SetPosLength(this ComWrapper<ICamIpcPnPClearanceItem> c, double value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c
double	value

SetPositionType(ComWrapper<ICamIpcPnPClearanceItem>, TModelFormerPnPClearanceType)

Sets how the clearance position is calculated.

Declaration

public static void SetPositionType(this ComWrapper<ICamIpcPnPClearanceItem> c, TModelFormerPnPClearanceType value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPClearanceItem>	c
TModelFormerPnPClearanceType	value

SetRelativeTo(ComWrapper<ICamIpcPnPMoveItem>, TModelFormerPnPRelativeType)

Sets what the intermediate point is relative to.

Declaration

public static void SetRelativeTo(this ComWrapper<ICamIpcPnPMoveItem> c, TModelFormerPnPRelativeType value)

Parameters

Type	Name	Description
ComWrapper<ICamIpcPnPMoveItem>	c
TModelFormerPnPRelativeType	value