How to get started with a robotics application

HOOPS Visualize
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robot_parts.zip (222.7 KB)

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image1359×1606 147 KB

I have a lot of similar questions that motivated me to post this article. Thanks to HOOPS Visualize’s scene graphic structure, I think it is fairly straightforward to build a POC application using the Sandbox. Here is an example with attached the 6 axis robot part files.

Step 1 : Create a Segment Structure

void CHPSView::OnUserCode2()
{
	// Setup segments
	HPS::SegmentKey newmodel = HPS::Database::CreateRootSegment();
	newmodel.MoveTo(GetDocument()->GetModel().GetSegmentKey());

	HPS::SegmentKey work = newmodel.Subsegment();
	HPS::SegmentKey j1 = newmodel.Subsegment();
	HPS::SegmentKey j2 = j1.Subsegment();
	HPS::SegmentKey j3 = j2.Subsegment();
	HPS::SegmentKey j4 = j3.Subsegment();
	HPS::SegmentKey j5 = j4.Subsegment();
	HPS::SegmentKey j6 = j5.Subsegment();
	HPS::SegmentKey j7 = j6.Subsegment();
	newmodel.GetVisibilityControl().SetLines(true);

Step 2 : Read robot parts in each separate segment

	HPS::Stream::ImportOptionsKit ioOpts;
	HPS::Stream::ImportNotifier notifier;
	HPS::UTF8 filename = HPS::UTF8("work.hsf");
	ioOpts.SetSegment(work);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	work.GetModellingMatrixControl().Rotate(0, 0, 90);
	work.GetModellingMatrixControl().Translate(900, 0, 0);

	filename = HPS::UTF8 ("j1.hsf");
	ioOpts.SetSegment(j1);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);

	filename = HPS::UTF8("j2.hsf");
	ioOpts.SetSegment(j2);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j2.GetModellingMatrixControl().Translate(0, 0, 380);

	filename = HPS::UTF8("j3.hsf");
	ioOpts.SetSegment(j3);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j3.GetModellingMatrixControl().Translate(150, 0, 300);

	filename = HPS::UTF8("j4.hsf");
	ioOpts.SetSegment(j4);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j4.GetModellingMatrixControl().Translate(0, 0, 800);

	filename = HPS::UTF8("j5.hsf");
	ioOpts.SetSegment(j5);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j5.GetModellingMatrixControl().Translate(220, 0, 90);

	filename = HPS::UTF8("j6.hsf");
	ioOpts.SetSegment(j6);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j6.GetModellingMatrixControl().Translate(500, 0, 0);

	filename = HPS::UTF8("j7.hsf");
	ioOpts.SetSegment(j7);
	notifier = HPS::Stream::File::Import(filename.GetBytes(), ioOpts);
	j7.GetModellingMatrixControl().Translate(70, 0, 0);

Step 3 : Move this robot by editing the matrix attributes of each segment

	MatrixKit matrix, matrix_in, matrix_out;
	matrix.RotateOffAxis(HPS::Vector(0,0,1), 30);
	j2.ShowModellingMatrix(matrix_in);
	matrix_out = matrix.Multiply(matrix_in);
	j2.SetModellingMatrix(matrix_out);

	matrix.Reset();      matrix.RotateOffAxis(HPS::Vector(0,1,0), 20);
	j3.ShowModellingMatrix(matrix_in);
	matrix_out = matrix.Multiply(matrix_in);
	j3.SetModellingMatrix(matrix_out);

	matrix.Reset();	matrix.RotateOffAxis(Vector(0, 1, 0), 20);
	j4.ShowModellingMatrix(matrix_in);
	matrix_out = matrix.Multiply(matrix_in);
	j4.SetModellingMatrix(matrix_out);

	matrix.Reset();	matrix.RotateOffAxis(Vector(1, 0, 0), -50);
	j5.ShowModellingMatrix(matrix_in);
	matrix_out = matrix.Multiply(matrix_in);
	j5.SetModellingMatrix(matrix_out);

	matrix.Reset();	matrix.RotateOffAxis(Vector(0, 1, 0), 40);
	j6.ShowModellingMatrix(matrix_in);
	matrix_out = matrix.Multiply(matrix_in);
	j6.SetModellingMatrix(matrix_out);
	
	matrix.Reset();	matrix.RotateOffAxis(Vector(1, 0, 0), 20);
	j7.ShowModellingMatrix(matrix_in);
	matrix_out = matrix_in.Multiply(matrix);
	j7.SetModellingMatrix(matrix_out);

	notifier.Wait();  //wait until loading is done
	GetCanvas().GetFrontView().FitWorld();
	GetCanvas().Update();
}
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