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SWKIKConstraint (Object)

This interface manages the constraint of the manikin.
It provides access to the constraints data (ID, EndEffector, StartSegment,...)

Property Index

Active
Returns or sets the constraint activity.
AngleCriteria
Returns or sets the angle criteria that will be used to evaluate success or failure of the constraint resolution.
AngleToTarget
Returns the angle (in radians) from the constraint end effector to the target.
DistanceCriteria
Returns or sets the distance criteria that will be used to evaluate success or failure of the constraint resolution.
DistanceToTarget
Returns the distance (in mm) from the constraint end effector to the target.
EndEffector
Returns or sets the end effector of the IK chain of the constraint.
Identifier
Returns the identifier(ID) of the constraint.
IsSuccess
Returns whether the resolution of this constraint is a success or a failure, given the current criteria.
Manikin
Returns the manikin which owns this IK constraint.
Priority
Returns or sets the priority of the constraint.
RotationOffsetAngle
Returns or sets the rotation offset angle for the 3D plane constraint.
StartSegment
Returns or sets the first segment of the body to be driven by this constraint.
TransferWithTarget
Returns or sets the Transfer With Target property.
UserType
Returns the user type of the constraint.

Method Index

GetConstraintElement
Returns a reference to the target object of the constraint (if any).
GetEndEffector
Returns the end effector of the IK chain of the constraint.
GetStartSegment
Returns the start segment of the IK chain of the constraint.
GetTargetLine
Get the target points coordinates of a line This method retrieves the origin point coordinates as (x, y, z) data and the direction value of a line.
GetTargetPlane
Get the target points coordinates of a line This method retrieves the origin point coordinates as (x, y, z) data and the direction value of a line.
GetTargetPoint
Get the target point coordinates.
ResetTarget
Reset the offset of the target object (i.
SetConstraintElement
Set the target object to follow.
SetTargetLine
Set the target line to follow.
SetTargetPlane
Set the target plane to follow.
SetTargetPoint
Set the target point to follow.

Properties


o Property Active() As
Returns or sets the constraint activity.
A constraint being active means that the constraint is taken into
account during the resolution.

If the constraint is not active,then it is ignored during the resolution.
o Property AngleCriteria() As
Returns or sets the angle criteria that will be used to evaluate success or failure of the constraint resolution. If, after resolution, the agle between the constraint and the target is lower than the criteria, then the constraint will be considered resolved. This criteria must be specified in radians.
o Property AngleToTarget() As (Read Only)
Returns the angle (in radians) from the constraint end effector to the target.
o Property DistanceCriteria() As
Returns or sets the distance criteria that will be used to evaluate success or failure of the constraint resolution. If, after resolution, the distance between the constraint and the target is lower than the criteria, then the constraint will be considered resolved. This criteria must be specified in millimeters.
o Property DistanceToTarget() As (Read Only)
Returns the distance (in mm) from the constraint end effector to the target.
o Property EndEffector() As
Returns or sets the end effector of the IK chain of the constraint. The string in this property is the short name of the last segment (or line of sight) to be driven by this constraint
o Property Identifier() As (Read Only)
Returns the identifier(ID) of the constraint.
o Property IsSuccess() As (Read Only)
Returns whether the resolution of this constraint is a success or a failure, given the current criteria.
o Property Manikin() As (Read Only)
Returns the manikin which owns this IK constraint.
o Property Priority() As
Returns or sets the priority of the constraint.
When using that property, the number returned or set
is an integer and must be between 1 and 4 inclusive.
The lower the priority, the more prioritary the constraint becomes.
o Property RotationOffsetAngle() As
Returns or sets the rotation offset angle for the 3D plane constraint.
This rotation offset angle(rad) is used to adjust 3D plane constraint.
When using that property, the number returned or set
must be between -PI and PI inclusive.
o Property StartSegment() As
Returns or sets the first segment of the body to be driven by this constraint.
o Property TransferWithTarget() As
Returns or sets the Transfer With Target property.
o Property UserType() As (Read Only)
Returns the user type of the constraint. The user type returned will be one of the following: ("Contact", "Coincidence", "Fix", or "FixOn"),

Methods


o Func GetConstraintElement() As
Returns a reference to the target object of the constraint (if any).
o Func GetEndEffector() As
Returns the end effector of the IK chain of the constraint.
o Func GetStartSegment() As
Returns the start segment of the IK chain of the constraint.
o Sub GetTargetLine( poTargetLineCoord)
Get the target points coordinates of a line This method retrieves the origin point coordinates as (x, y, z) data and the direction value of a line.
Parameters:
poTargetLineCoord
The array of 6 data containing target point coordinates as x, y, z respectively and the x, y, z direction values for the target line.
o Sub GetTargetPlane( poTargetPlaneCoord)
Get the target points coordinates of a line This method retrieves the origin point coordinates as (x, y, z) data and the direction value of a line.
Parameters:
poTargetLineCoord
The array of 9 data containing origin point coordinates as x, y, z, the first normalized direction as x, y, z coordinates and the x, y, z ortho-normalized direction values for the target plane.
o Sub GetTargetPoint( poTargetPtCoord)
Get the target point coordinates. This method retrieves the target point coordinates as (x, y, z) data under an array form.
Parameters:
poTargetPtCoord
The array containing target point coordinates as x, y, z respectively, the x coordinate being the first data in the array.
o Sub ResetTarget()
Reset the offset of the target object (i.e. set the offset to the end effector's current position).
o Sub SetConstraintElement( piConstraintElement,
piConstraintType)
Set the target object to follow. This method establishes a part relation between the end effector and an object to follow.
Parameters:
piConstraintElement
A reference to the target object
This target object can be either a wireframe
GeometricElement object such as a plane or a line, or a boundary representation object such as a face, a vertex or an edge. In the case of a 'Fix on' constraint, the target object must be the product ( CATIAProduct) associated with the constraint.
piConstraintType
The type of the constraint.
This parameter can take the following values: "Coincidence", "Contact", "Contact2D", "Contact3D", "FixPositon", "FixOrientation", "FixPositonAndOrientation", "FixOnPositon", "FixOnOrientation" and "FixOnPositonAndOrientation".
o Sub SetTargetLine( piObject,
piStartPointX,
piStartPointY,
piStartPointZ,
piEndPointX,
piEndPointY,
piEndPointZ,
piConstraintType)
Set the target line to follow. This method establishes a contact or coincidence constraint between the end effector and the line.
Parameters:
piConstraintElement
A reference to the target object
This target object must be the product (
CATIAProduct) associated with the constraint.
piStartPointX
The x coordinate of the start point of the line, relatively to the father object.
piStartPointY
The y coordinate of the start point of the line, relatively to the father object.
piStartPointZ
The z coordinate of the start point of the line, relatively to the father object.
piEndPointX
The x coordinate of the end point of the line, relatively to the father object.
piEndPointY
The y coordinate of the end point of the line, relatively to the father object.
piEndPointZ
The z coordinate of the end point of the line, relatively to the father object.
piConstraintType
The type of the constraint.
This parameter can take the values "Contact", "Contact2D", "Contact3D" or "Coincidence".
o Sub SetTargetPlane( piObject,
piOriginX,
piOriginY,
piOriginZ,
piNormalX,
piNormalY,
piNormalZ,
piConstraintType)
Set the target plane to follow. This method establishes a contact or coincidence constraint between the end effector and the plane.
Parameters:
piConstraintElement
A reference to the target object
This target object must be the product (
CATIAProduct) associated with the constraint.
piOriginX
The x coordinate of the origin of the plane, relatively to the father object.
piOriginY
The y coordinate of the origin of the plane, relatively to the father object.
piOriginZ
The z coordinate of the origin of the plane, relatively to the father object.
piNormalX
The x coordinate of the normal vector of the plane, relatively to the father object.
piNormalY
The y coordinate of the normal vector of the plane, relatively to the father object.
piNormalZ
The z coordinate of the normal vector of the plane, relatively to the father object.
piConstraintType
The type of the constraint.
This parameter can take the values "Contact", "Contact2D", "Contact3D" or "Coincidence".
o Sub SetTargetPoint( piObject,
piCoordX,
piCoordY,
piCoordZ)
Set the target point to follow. This method establishes a contact constraint between the end effector and the point.
Parameters:
piConstraintElement
A reference to the target object
This target object must be the product (
CATIAProduct) associated with the constraint.
piCoordX
The x coordinate of the point, relatively to the father object.
piCoordY
The y coordinate of the point, relatively to the father object.
piCoordZ
The z coordinate of the point, relatively to the father object.

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