public List <IO.Swagger.Model.Joint> GetJoints()
{
if (RobotModel == null)
{
// if urdf model is still loading, return empty joint list
if (modelLoading)
{
return(new List <IO.Swagger.Model.Joint>());
}
else
{
throw new RequestFailedException("Model not found for this robot.");
}
}
else
{
return(RobotModel.GetJoints());
}
}
/// <summary>
/// Checks if the joint names in joints corresponds to the joint names in RobotModel.
/// </summary>
/// <param name="joints"></param>
/// <returns>True if joints have equal names, false if not.</returns>
public bool CheckJointsAreValid(List <IO.Swagger.Model.Joint> joints)
{
if (RobotModel != null)
{
List <string> receivedJoints = new List <string>();
foreach (IO.Swagger.Model.Joint joint in joints)
{
receivedJoints.Add(joint.Name);
}
foreach (string jointName in RobotModel.Joints.Keys)
{
receivedJoints.Remove(jointName);
}
if (receivedJoints.Count != 0)
{
Debug.LogError("Received wrong joints: " + string.Join(",", joints) + " .. but expected: " + string.Join(",", RobotModel.GetJoints()));
Notifications.Instance.ShowNotification("Received wrong joints!", "Received:" + string.Join(",", joints) + ".. but expected: " + string.Join(",", RobotModel.GetJoints()));
return(false);
}
else
{
return(true);
}
}
else
{
//Debug.LogError("Trying to set joint values, but robot urdf model is not loaded nor assigned.");
}
return(false);
}