public Program(string name, RobotSystem robotSystem, IEnumerable <IToolpath> toolpaths, Commands.Group?initCommands = null, IEnumerable <int>?multiFileIndices = null, double stepSize = 1.0)
{
RobotSystem = robotSystem;
InitCommands = initCommands?.Flatten().ToList() ?? new List <Command>(0);
var targets = CreateCellTargets(toolpaths);
if (targets.Count > 0)
{
var checkProgram = new CheckProgram(this, targets, stepSize);
_simulation = new Simulation(this, checkProgram.Keyframes);
targets = checkProgram.FixedTargets;
}
Targets = targets;
Name = name;
CheckName(name, robotSystem);
MultiFileIndices = FixMultiFileIndices(multiFileIndices, Targets.Count);
if (Errors.Count == 0)
{
Code = RobotSystem.Code(this);
}
}
