37 lines
1.3 KiB
C#
37 lines
1.3 KiB
C#
|
using System;
|
||
|
|
using System.Collections.Generic;
|
||
|
|
using System.Text;
|
||
|
|
|
||
|
|
namespace CommonUsage.Protocols.VDA5050.Objects
|
||
|
|
{
|
||
|
|
/// <summary>
|
||
|
|
/// Defines the position on a map in a global project-specific world coordinate system.
|
||
|
|
/// Each floor has its own map.
|
||
|
|
/// All maps shall use the same project-specific global origin.
|
||
|
|
/// </summary>
|
||
|
|
public class nodePosition
|
||
|
|
{
|
||
|
|
/// <summary>
|
||
|
|
/// X-position on the map in reference to the map coordinate system.
|
||
|
|
/// Precision is up to the specific implementation.
|
||
|
|
/// </summary>
|
||
|
|
public double x;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Y-position on the map in reference to the map coordinate system.
|
||
|
|
/// Precision is up to the specific implementation.
|
||
|
|
/// </summary>
|
||
|
|
public double y;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Range: [-Pi ... Pi]
|
||
|
|
/// Absolute orientation of the AGV on the node.
|
||
|
|
/// Optional: vehicle can plan the path by itself. If defined, the AGV has to assume the theta angle on this node.
|
||
|
|
/// If previous edge disallows rotation, the AGV shall rotate on the node.
|
||
|
|
/// If following edge has a differing orientation defined but disallows rotation,
|
||
|
|
/// the AGV is to rotate on the node to the edges desired rotation before entering the edge.
|
||
|
|
/// </summary>
|
||
|
|
public double theta;
|
||
|
|
}
|
||
|
|
}
|