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