SAFETY_ZONE_SHAPE_CYLINDER

This structure defines the cylindrical safety zone, used to represent vertical or radial restricted areas within the robot workspace. It is parameterized by a 2D center, a radius, and Z-axis height limits.

BYTE#	Field Name	Data Type	Value	Remarks
0	_tCenter	POINT_2D		2D center position (X, Y) of the cylindrical base
8	_fRadius	float		Cylinder radius (mm)
12	_fZLoLimit	float		Minimum Z limit of the cylinder (bottom surface)
16	_fZUpLimit	float		Maximum Z limit of the cylinder (top surface)

Total size: 20 bytes

Defined in: DRFS.h

typedef struct _SAFETY_ZONE_SHAPE_CYLINDER
{
    /* base center (X, Y) */
    POINT_2D _tCenter;
    /* cylinder radius (mm) */
    float _fRadius;
    /* bottom and top height limits */
    float _fZLoLimit;
    float _fZUpLimit;
} SAFETY_ZONE_SHAPE_CYLINDER, *LPSAFETY_ZONE_SHAPE_CYLINDER;