Grasshopper.Kernel.Types.Transforms.Orientation.Orientation?

Hi all,

I'm struggling through writing a custom component in C# with Visual Studio. Most everything is working, but right now I'm stumped on this.

I'm writing a very basic set of components to aid in generating KRL code for a KUKA robot arm. The function below is going to convert from an orientation transform to Euler coordinates, which is the format used in KRL code.

using System;
using Grasshopper.Kernel;
using Grasshopper.Kernel.Types;

namespace krl_toolbox
{
public class Convert
{
public void TransformToEuler(Rhino.Geometry.Plane p1, Rhino.Geometry.Plane p2)
{
GH_Transform t = Grasshopper.Kernel.Types.Transforms.Orientation.Orientation(p1, p2);

}
}
}

According to the object browser in VS, ...Orientation.Orientation is a constructor (I think that's the right terminology here?) for creating a GH_Transform object. However, VS won't compile, complaining that the Orientation method doesn't exist. When I type "Grasshopper.Kernel.Types.Transforms.Orientation.", the code completion popup only shows the methods "Equals" and "ReferenceEquals".

I think it must be something stupidly simple, but I don't know what to do. Any thoughts?

Thanks,

Trygve

Replies to This Discussion

Permalink Reply by Andrew Heumann on July 11, 2013 at 9:20am

There are a few things here:

1. with a constructor in C#, you need the "new" keyword

2. You don't need to type "orientation" a second time - new Grasshopper.Kernel.Types.Transforms.Orientation(p1, p2); will suffice

3. This constructor returns an "Orientation" type, rather than a GH_Transform type. This type also implements ITransform so you can write it as Grasshopper.Kernel.Types.Transforms.ITransform t = new Grasshopper.Kernel.Types.Transforms.Orientation(p1, p2);

4. the ITransform interface (as I understand it) represents only a single transform - the GH_Transform type can include compound transforms and perhaps other complexity. Without knowing what you intend to do with the GH_Transform I can't tell you if it's necessary, but if you need to you can create a new GH_Transform from your ITransform like so:

GH_Transform ght = new GH_Transform(t); (where t is the ITransform as created above.)

Hope that's helpful!

Permalink Reply by Thibault Schwartz on July 11, 2013 at 9:32am

Hi Trygve,

The new alpha version for HAL0050 including ABB, KUKA and Universal Robots compatibility is now available for testers if you want to give it a try. If so, just send me a message.

Have a nice day,

Permalink Reply by Trygve Wastvedt on July 11, 2013 at 9:45am