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SAFETY_OBJECT_CAPSULE

This structure defines a capsule-shaped safety object, which represents a cylindrical body capped with two hemispheres at both ends. It is commonly used to define elongated tools or robot link boundaries for collision monitoring.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fRadius	float		Radius of the capsule body
4	_tTargetPos[2]	POINT_3D [2]		Capsule endpoints _tTargetPos[0]: Lower vertex _tTargetPos[1]: Upper vertex

Total size: 28 bytes

Defined in: DRFS.h

typedef struct _SAFETY_OBJECT_CAPSULE
{
    /* Capsule radius [mm] */
    float _fRadius;
    /* Capsule endpoints: low(0), high(1) */
    POINT_3D _tTargetPos[2];
} SAFETY_OBJECT_CAPSULE, *LPSAFETY_OBJECT_CAPSULE;