Added ZoneData class

include/abb_librws/rws_rapid.h

@@ -963,6 +963,96 @@ struct SpeedData : public RAPIDRecord
   RAPIDNum v_reax;
 };
 
+
+/**
+ * \brief A struct, for representing a RAPID zonedata record.
+ */
+struct ZoneData : public RAPIDRecord
+{
+public:
+  /**
+   * \brief A default constructor.
+   */
+  ZoneData()
+  :
+  RAPIDRecord("zonedata")
+  {
+    components_.push_back(&finep);
+    components_.push_back(&pzone_tcp);
+    components_.push_back(&pzone_ori);
+    components_.push_back(&pzone_eax);
+    components_.push_back(&zone_ori);
+    components_.push_back(&zone_leax);
+    components_.push_back(&zone_reax);
+  }
+
+  /**
+   * \brief Copy constructor.
+   *
+   * \param other containing the values to copy.
+   */
+  ZoneData(const ZoneData& other)
+  : RAPIDRecord(other.record_type_name_)
+  , finep {other.finep}
+  , pzone_tcp {other.pzone_tcp}
+  , pzone_ori {other.pzone_ori}
+  , pzone_eax {other.pzone_eax}
+  , zone_ori {other.zone_ori}
+  , zone_leax {other.zone_leax}
+  , zone_reax {other.zone_reax}
+  {
+    components_.clear();
+    components_.push_back(&finep);
+    components_.push_back(&pzone_tcp);
+    components_.push_back(&pzone_ori);
+    components_.push_back(&pzone_eax);
+    components_.push_back(&zone_ori);
+    components_.push_back(&zone_leax);
+    components_.push_back(&zone_reax);
+  }
+
+  /**
+   * \brief Defines whether the movement is to terminate as a stop point (fine point) or as a fly-by point.
+   */
+  RAPIDBool finep;
+
+  /**
+   * \brief The size (the radius) of the TCP zone in mm.
+   */
+  RAPIDNum pzone_tcp;
+
+  /**
+   * \brief The zone size (the radius) for the tool reorientation.
+   * 
+   * The size is defined as the distance of the TCP from the programmed point in mm.
+   */
+  RAPIDNum pzone_ori;
+
+  /**
+   * \brief The zone size (the radius) for external axes.
+   * 
+   * The size is defined as the distance of the TCP from the programmed point in mm.
+   */
+  RAPIDNum pzone_eax;
+
+  /**
+   * \brief The zone size for the tool reorientation in degrees.
+   * 
+   * If the robot is holding the work object, this means an angle of rotation for the work object.
+   */
+  RAPIDNum zone_ori;
+
+  /**
+   * \brief The zone size for linear external axes in mm.
+   */
+  RAPIDNum zone_leax;
+
+  /**
+   * \brief The zone size for rotating external axes in degrees.
+   */
+  RAPIDNum zone_reax;
+};
+
 } // end namespace rws
 } // end namespace abb