public JointMotionProfile(JointMotionProfileInputSet inputSet)
{
InputSet = inputSet;
OriginalConstraints = new ConstraintsCollection(inputSet.Constraints.Select(c => c.Copy()));
EffectiveConstraints = inputSet.Constraints.GetEffectiveConstraints();
#if DEBUG
EffectiveConstraintsHistory = new List <ConstraintsCollection>
{
new ConstraintsCollection(EffectiveConstraints.Select(ec => ec.Copy()))
};
CloseHighTightGapsIteratively();
while (true)
{
EffectiveConstraintsHistory.Add(new ConstraintsCollection(EffectiveConstraints.Select(ec => ec.Copy())));
if (CalculateProfile())
{
break;
}
else
{
// possibility to set brakepoint here
NumRecalculations++;
if (EffectiveConstraints.Any(ec => ec.MaximumVelocity == 0))
{
throw new JointMotionCalculationException($"Invalid Effective Constraint", inputSet);
}
}
}
#else
while (!CalculateProfile())
{
}
#endif
Timestamps = CalculateTimestampsAtConstraintOriginalDistances().ToList();
}
public JointMotionCalculationException(string message, JointMotionProfileInputSet inputSet)
: base(message)
{
InputSet = inputSet;
}
