public RotationalJointAxis(string path, Joint current)
: base(path, current)
{
FlipVectors = new DoubleStorageArray(swData, path + "/FlipVectors");
if (FlipVectors.Count == 0)
{
for (int i = 0; i < 4; i++)
FlipVectors.AddItem(0);
}
}
/// <summary>
/// Loads a robot from an assembly document, if a robot dosn't already
/// exist one will be created
/// </summary>
/// <param name="asm">Assembly document containing a robot model</param>
/// <param name="swApp">Interface for interacting with Solidworks</param>
public RobotModel(AssemblyDoc asm, SldWorks swApp)
{
RobotInfo.WriteToLogFile("Robot Created (Robot)");
var assembly = typeof(JointSpecifics).Assembly;
Type[] types = assembly.GetTypes().Where(
t => t.IsSubclassOf(typeof(JointSpecifics)) && !t.IsAbstract).ToArray();
foreach (Type t in types)
{
System.Runtime.CompilerServices.RuntimeHelpers.RunClassConstructor(t.TypeHandle);
}
RobotInfo.WriteToLogFile("Initialized JointTypes = " + String.Join(", ",JointFactory.GetTypesList()) + " (Robot)");
//Setup fields
this.swApp = swApp;
this.asmDoc = asm;
this.modelDoc = (ModelDoc2)asm;
swData = new StorageModel(modelDoc);
Selected = false;
RobotInfo.SetProperties(swApp, asmDoc, swData, this);
RobotInfo.WriteToLogFile("Setup Fields Setup");
//If the robot data dosn't exist yet, create it with default values
if (swData.GetDouble("robot") == 0)
{
swData.SetDouble("robot", 1);
/*PhysicalConfig = "Default";
VisualConfig = "Default";
CollisionConfig = "Default";*/
Name = ((ModelDoc2)asm).GetTitle();
RobotInfo.WriteToLogFile("Robot Data created with Default Values");
}
RobotInfo.WriteToLogFile("Robot Data created");
LinkNums = new DoubleStorageArray(swData, "robot/linkNums");
nextLinkNum = 0;
RobotInfo.WriteToLogFile("LinkNums Storage Array Created");
Links = new Dictionary<int,Link>();
//Load link structure
Link newLink;
if (LinkNums.Count == 0)
{
LinkNums.AddItem(0);
RobotInfo.WriteToLogFile("New Link added to LinkNums");
}
Configuration currentConfig = modelDoc.ConfigurationManager.ActiveConfiguration;
foreach (double d in LinkNums)
{
newLink = new Link("robot/link" + (int)d, (int)d);
RobotInfo.WriteToLogFile("New Link Created");
Links.Add((int)d,newLink);
if (d >= nextLinkNum)
nextLinkNum = (int)d + 1;
}
Links[0].isBaseLink = true;
foreach (Link l in Links.Values.ToArray())
{
l.InitializeJoints();
l.InitializeAttachments();
}
modelDoc.ShowConfiguration2(ConfigName);
CalcAxisVectors();
CalcOrigin();
modelDoc.ShowConfiguration2(currentConfig.Name);
}