// public RemoteConnection Remote { get; } = new RemoteConnection();
// public URRealTime URRealTime { get; set; }
internal RobotCellUR(string name, RobotArm robot, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.UR, io, basePlane, environment)
{
Remote = new RemoteUR();
this.Robot = robot as RobotUR;
this.DisplayMesh = new Mesh();
DisplayMesh.Append(robot.DisplayMesh);
this.DisplayMesh.Transform(this.BasePlane.ToTransform());
}
internal URScriptPostProcessor(RobotCellUR robotCell, Program program)
{
this.cell = robotCell;
this.robot = cell.Robot as RobotUR;
this.program = program;
this.Code = new List <List <List <string> > >();
var groupCode = new List <List <string> >();
groupCode.Add(Program());
Code.Add(groupCode);
}
internal URScriptPostProcessor(RobotCellUR robotCell, Program program)
{
this.cell = robotCell;
this.robot = cell.Robot as RobotUR;
this.program = program;
var groupCode = new List <List <string> > {
Program()
};
this.Code = new List <List <List <string> > > {
groupCode
};
}
internal URScriptPostProcessor(RobotCellUR robotCell, Program program)
{
this.cell = robotCell;
this.robot = cell.Robot as RobotUR;
this.program = program;
this.Code = new List<List<List<string>>>();
var groupCode = new List<List<string>>();
groupCode.Add(Program());
Code.Add(groupCode);
}