Registers

public class NumericRegisters : NumericRegistersBase<float, NumericRegistersBatchAssignment> {
 
    // Creates a batch assignment for reading multiple numeric registers.
    public NumericRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
 
    // Reads a value from the client at the specified memory offset.
    protected override float ReadFromClient(int offset, int index)
 
    // Writes a value to the robot at the specified offset.
    protected override void WriteInClient(int offset, int index, float value)
}

public class PositionRegisters : SnpxWritableAssignableIndexableElements<Position, PositionRegistersBatchAssignment> {
 
    // Creates a batch assignment for reading multiple position registers.
    public PositionRegistersBatchAssignment CreateBatchAssignment(int startIndex, int count)
     protected override string GetAssignmentName(int index)
     protected override int GetAssignmentSize(int index)
     protected override string GetAssignmentTarget(int index)
 
    // Reads the position at the specified register index.
    public Position Read(int index)
 
    // Reads a value from the client at the specified memory offset.
    protected override Position ReadFromClient(int offset, int index)
 
    // Writes a Cartesian position to the specified position register.
    public void Write(int index, CartesianPosition cartesianPosition)
 
    // Writes an extended Cartesian position to the specified position register.
    public void Write(int index, ExtendedCartesianPosition extendedCartesianPosition)
 
    // Writes a joints position to the specified position register.
    public void Write(int index, JointsPosition jointsPosition)
 
    // Writes a value to the robot at the specified offset.
    protected override void WriteInClient(int offset, int index, Position value)
}

public class Position {
 
    // Default constructor
    public Position()
 
    // Constructor with user frame, tool, joints and cartesian position
    public Position(short userFrame, short userTool, JointsPosition jointsPosition, ExtendedCartesianPosition cartesianPosition)
 
    // Cartesian position with extended axes
    public ExtendedCartesianPosition CartesianPosition { get; set; }
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Joint values in degrees
    public JointsPosition JointsPosition { get; set; }
     public override string ToString()
 
    // User frame index
    public short UserFrame { get; set; }
 
    // User tool index
    public short UserTool { get; set; }
}

public class JointsPosition {
 
    // Default constructor
    public JointsPosition()
 
    // Constructor with 6 joint values in degrees
    public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg)
 
    // Constructor with 9 joint values in degrees
    public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg, double j7Deg, double j8Deg, double j9Deg)
 
    // Constructor from an array of joint values in degrees
    public JointsPosition(double[] values)
     public override bool Equals(object obj)
     public override int GetHashCode()
 
    // Check if joints position is near to expected joints position with a tolerance value
    public static bool IsNear(JointsPosition j1, JointsPosition j2, double degreesTolerance)
 
    // Gets or sets the joint value at the specified index
    public double this[int i] { get; set; }
 
    // Joint 1 in degrees
    public double J1 { get; set; }
 
    // Joint 2 in degrees
    public double J2 { get; set; }
 
    // Joint 3 in degrees
    public double J3 { get; set; }
 
    // Joint 4 in degrees
    public double J4 { get; set; }
 
    // Joint 5 in degrees
    public double J5 { get; set; }
 
    // Joint 6 in degrees
    public double J6 { get; set; }
 
    // Joint 7 in degrees
    public double J7 { get; set; }
 
    // Joint 8 in degrees
    public double J8 { get; set; }
 
    // Joint 9 in degrees
    public double J9 { get; set; }
     public override string ToString()
 
    // Numeric values for each joints
    public double[] Values { get; }
}

public class ExtendedCartesianPosition : CartesianPosition {
 
    // Default constructor
    public ExtendedCartesianPosition()
 
    // Constructor with position, rotations, and extended axes
    public ExtendedCartesianPosition(double x, double y, double z, double w, double p, double r, double e1, double e2, double e3)
 
    // Extended axis 1 value
    public double E1 { get; set; }
 
    // Extended axis 2 value
    public double E2 { get; set; }
 
    // Extended axis 3 value
    public double E3 { get; set; }
     public override bool Equals(object obj)
     public override int GetHashCode()
     public override string ToString()
}

public class CartesianPosition : XYZPosition {
 
    // Default constructor
    public CartesianPosition()
 
    // Constructor with position and rotations
    public CartesianPosition(double x, double y, double z, double w, double p, double r)
 
    // Constructor with position, rotations and configuration
    public CartesianPosition(double x, double y, double z, double w, double p, double r, Configuration configuration)
 
    // Copy constructor
    public CartesianPosition(CartesianPosition position)
 
    // Constructor from an XYZ position with rotations
    public CartesianPosition(XYZPosition position, double w, double p, double r)
 
    // Position configuration
    public Configuration Configuration { get; }
     public override bool Equals(object obj)
 
    // Create a CartesianPosition with unknow configuration from a homogeneous rotation and translation 4x4 matrix
    public static CartesianPosition FromHomogeneousMatrix(double[,] R)
     public override int GetHashCode()
 
    // Check if two Cartesian positions are near each other within specified tolerances
    public static bool IsNear(CartesianPosition a, CartesianPosition b, double mmTolerance, double degreesTolerance)
 
    // Normalize an angle to the range ]-180, 180]
    public static double NormalizeAngle(double angle)
 
    // Normalize the W, P, R angles to the range ]-180, 180]
    public static void NormalizeAngles(CartesianPosition pose)
 
    // P rotation in degrees (Ry)
    public double P { get; set; }
 
    // R rotation in degrees (Rz)
    public double R { get; set; }
 
    // Convert position to a homogeneous rotation and translation 4x4 matrix
    public double[,] ToHomogeneousMatrix()
     public override string ToString()
 
    // W rotation in degrees (Rx)
    public double W { get; set; }
}