public Target Lerp(ProgramTarget prevTarget, RobotSystem robot, double t, double start, double end)
{
double[] allJoints = JointTarget.Lerp(prevTarget.Kinematics.Joints, Kinematics.Joints, t, start, end);
var external = allJoints.RangeSubset(6, Target.External.Length);
if (IsJointMotion)
{
var joints = allJoints.RangeSubset(0, 6);
return(new JointTarget(joints, Target, external));
}
else
{
Plane prevPlane = GetPrevPlane(prevTarget);
Plane plane = robot.CartesianLerp(prevPlane, Plane, t, start, end);
// Plane plane = CartesianTarget.Lerp(prevTarget.WorldPlane, this.WorldPlane, t, start, end);
// Target.RobotConfigurations? configuration = (Abs(prevTarget.cellTarget.TotalTime - t) < TimeTol) ? prevTarget.Kinematics.Configuration : this.Kinematics.Configuration;
var target = new CartesianTarget(plane, Target, prevTarget.Kinematics.Configuration, Motions.Linear, external);
// target.Frame = Frame.Default;
return(target);
}
}
public Target Lerp(ProgramTarget prevTarget, RobotSystem robot, double t, double start, double end)
{
double[] allJoints = JointTarget.Lerp(prevTarget.Kinematics.Joints, Kinematics.Joints, t, start, end);
var external = allJoints.RangeSubset(6, Target.External.Length);
if (IsJointMotion)
{
var joints = allJoints.RangeSubset(0, 6);
return new JointTarget(joints, Target, external);
}
else
{
Plane prevPlane = GetPrevPlane(prevTarget);
Plane plane = robot.CartesianLerp(prevPlane, Plane, t, start, end);
// Plane plane = CartesianTarget.Lerp(prevTarget.WorldPlane, this.WorldPlane, t, start, end);
// Target.RobotConfigurations? configuration = (Abs(prevTarget.cellTarget.TotalTime - t) < TimeTol) ? prevTarget.Kinematics.Configuration : this.Kinematics.Configuration;
var target = new CartesianTarget(plane, Target, prevTarget.Kinematics.Configuration, Target.Motions.Linear, external);
// target.Frame = Frame.Default;
return target;
}
}