SAFETY_ZONE_SHAPE

This structure defines the core geometric description of a safety zone, including its coordinate reference, shape type, dimensions, and boundary configuration. It serves as a wrapper structure that combines metadata (type, coordinate, margin, etc.) with the actual geometric data (SAFETY_ZONE_SHAPE_DATA).

BYTE#	Field Name	Data Type	Value	Remarks
0	`_iCoordinate`	`unsigned char`	0, 2	Coordinate system used for the safety zone (0: Base frame, 2: World frame)
1	`_iShapeType`	`unsigned char`	0~5	Geometry type of the safety zone 0: Sphere 1: Cylinder 2: Cuboid 3: Tilted Cuboid 4: Multi-Plane 5: Capsule
2	`_tShapeData`	SAFETY_ZONE_SHAPE_DATA		Union structure containing the geometric parameters of the safety zone.
122	`_fMargin`	`float`	± value	Margin offset for the zone boundary (Positive: Expand, Negative: Shrink)
126	`_iValidSpace`	`unsigned char`	0 or 1	Defines whether the valid safety space is inside (0) or outside (1) the shape boundary.
127	`_iReserved`	`unsigned char[13]`		Reserved bytes for future extension and alignment.

Total size: 140 bytes

Defined in: DRFS.h

typedef struct _SAFETY_ZONE_SHAPE
{
    /* coordinate reference: 0(base), 2(world) */
    unsigned char _iCoordinate;

    /* geometry object type:
       0(Sphere), 1(Cylinder), 2(Cuboid),
       3(Tilted Cuboid), 4(Multi-Plane), 5(Capsule) */
    unsigned char _iShapeType;

    /* geometry object data */
    SAFETY_ZONE_SHAPE_DATA _tShapeData;

    /* positive: expand, negative: shrink */
    float _fMargin;

    /* valid space (0: inside, 1: outside) */
    unsigned char _iValidSpace;

    /* reserved for future use */
    unsigned char _iReserved[13];
} SAFETY_ZONE_SHAPE, *LPSAFETY_ZONE_SHAPE;

Note

The _tShapeData field uses a union to represent multiple shape types within a single memory layout.
_fMargin enables fine-tuning of safety boundaries for precision applications.
_iValidSpace distinguishes whether the robot should operate inside or outside the defined geometry.