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SAFETY_OBJECT_SPHERE

This structure defines a spherical safety object used in robot safety configuration. It represents a geometric boundary defined by a radius and a center point, which can be referenced by other configurations such as CONFIG_TOOL_SHAPE or safety zone definitions.

BYTE#

Field Name

Data Type

Value

Remarks

0

_fRadius

float

Radius of the spherical safety boundary

4

_tTargetPos

POINT_3D

Center position of the sphere in 3D space

Total size: 16 bytes

Defined in: DRFS.h

typedef struct _SAFETY_OBJECT_SPHERE
{
    /* Radius of the sphere [mm] */
    float _fRadius;
    /* Center position of the sphere (X, Y, Z) */
    POINT_3D _tTargetPos;
} SAFETY_OBJECT_SPHERE, *LPSAFETY_OBJECT_SPHERE;