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SAFETY_OBJECT

This structure defines a generic safety object, which specifies the reference coordinate system, object type, and corresponding geometric data. It serves as a unified representation of various safety object types (sphere, capsule, cube, oriented box, and polygon-prism), referencing the SAFETY_OBJECT_DATA union for the actual geometry.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iTargetRef	unsigned char		Reference coordinate system index (0: Base, 1: Tool, 2: World)
1	_iObjectType	unsigned char	0~4	Geometry object type (0: Sphere, 1: Capsule, 2: Cube 3: Oriented Box, 4: Polygon-Prism)
2	_tObject	SAFETY_OBJECT_DATA		Geometry data for the selected object type

Total size: 102 bytes

Defined in: DRFS.h

typedef struct _SAFETY_OBJECT
{
    /* Reference coordinate system (e.g., Base, Tool, World) */
    unsigned char _iTargetRef;

    /* Geometry type:
       0: Sphere
       1: Capsule
       2: Cube
       3: Oriented Box
       4: Polygon-Prism
    */
    unsigned char _iObjectType;

    /* Geometry object data */
    SAFETY_OBJECT_DATA _tObject;

} SAFETY_OBJECT, *LPSAFETY_OBJECT;