//Saves data from text boxes back into a joint
public void saveJointDataFromPropertyBoxes(joint Joint)
{
Joint.update(textBox_joint_name, comboBox_joint_type);
Joint.Parent.update(label_parent);
Joint.Child.update(label_child);
Joint.CoordinateSystemName = comboBox_origin.Text;
Joint.AxisName = comboBox_axis.Text;
Joint.Origin.update(textBox_joint_x,
textBox_joint_y,
textBox_joint_z,
textBox_joint_roll,
textBox_joint_pitch,
textBox_joint_yaw);
Joint.Axis.update(textBox_axis_x,
textBox_axis_y,
textBox_axis_z);
if (textBox_limit_lower.Text == "" && textBox_limit_upper.Text == "" && textBox_limit_effort.Text == "" && textBox_limit_velocity.Text == "")
{
if (Joint.type == "prismatic" || Joint.type == "revolute")
{
if (Joint.Limit == null)
{
Joint.Limit = new limit();
}
else
{
Joint.Limit.effort = 0;
Joint.Limit.velocity = 0;
}
}
else
{
Joint.Limit = null;
}
}
else
{
if (Joint.Limit == null)
{
Joint.Limit = new limit();
}
Joint.Limit.setValues(textBox_limit_lower,
textBox_limit_upper,
textBox_limit_effort,
textBox_limit_velocity);
}
if (textBox_calibration_rising.Text == "" && textBox_calibration_falling.Text == "")
{
Joint.Calibration = null;
}
else
{
if (Joint.Calibration == null)
{
Joint.Calibration = new calibration();
}
Joint.Calibration.setValues(textBox_calibration_rising,
textBox_calibration_falling);
}
if (textBox_friction.Text == "" && textBox_damping.Text == "")
{
Joint.Dynamics = null;
}
else
{
if (Joint.Dynamics == null)
{
Joint.Dynamics = new dynamics();
}
Joint.Dynamics.setValues(textBox_damping,
textBox_friction);
}
if (textBox_soft_lower.Text == "" && textBox_soft_upper.Text == "" && textBox_k_position.Text == "" && textBox_k_velocity.Text == "")
{
Joint.Safety = null;
}
else
{
if (Joint.Safety == null)
{
Joint.Safety = new safety_controller();
}
Joint.Safety.setValues(textBox_soft_lower,
textBox_soft_upper,
textBox_k_position,
textBox_k_velocity);
}
}
//Saves data from text boxes back into a joint
public void saveJointDataFromPropertyBoxes(joint Joint)
{
Joint.update(textBox_joint_name, comboBox_joint_type);
Joint.Parent.update(label_parent);
Joint.Child.update(label_child);
Joint.CoordinateSystemName = comboBox_origin.Text;
Joint.AxisName = comboBox_axis.Text;
Joint.Origin.update(textBox_joint_x,
textBox_joint_y,
textBox_joint_z,
textBox_joint_roll,
textBox_joint_pitch,
textBox_joint_yaw);
Joint.Axis.update(textBox_axis_x,
textBox_axis_y,
textBox_axis_z);
if (textBox_limit_lower.Text == "" && textBox_limit_upper.Text == "" && textBox_limit_effort.Text == "" && textBox_limit_velocity.Text == "")
{
if (Joint.type == "prismatic" || Joint.type == "revolute")
{
if (Joint.Limit == null)
{
Joint.Limit = new limit();
}
else
{
Joint.Limit.effort = 0;
Joint.Limit.velocity = 0;
}
}
else
{
Joint.Limit = null;
}
}
else
{
if (Joint.Limit == null)
{
Joint.Limit = new limit();
}
Joint.Limit.setValues(textBox_limit_lower,
textBox_limit_upper,
textBox_limit_effort,
textBox_limit_velocity);
}
if (textBox_calibration_rising.Text == "" && textBox_calibration_falling.Text == "")
{
Joint.Calibration = null;
}
else
{
if (Joint.Calibration == null)
{
Joint.Calibration = new calibration();
}
Joint.Calibration.setValues(textBox_calibration_rising,
textBox_calibration_falling);
}
if (textBox_friction.Text == "" && textBox_damping.Text == "")
{
Joint.Dynamics = null;
}
else
{
if (Joint.Dynamics == null)
{
Joint.Dynamics = new dynamics();
}
Joint.Dynamics.setValues(textBox_damping,
textBox_friction);
}
if (textBox_soft_lower.Text == "" && textBox_soft_upper.Text == "" && textBox_k_position.Text == "" && textBox_k_velocity.Text == "")
{
Joint.Safety = null;
}
else
{
if (Joint.Safety == null)
{
Joint.Safety = new safety_controller();
}
Joint.Safety.setValues(textBox_soft_lower,
textBox_soft_upper,
textBox_k_position,
textBox_k_velocity);
}
}
