Ejemplo n.º 1
0
        private static void InitializeFactories()
        {
            _kukaFactory = new KukaRobotModelFactory();
            _abbFactory  = new ABBRobotModelFactory();

            _factoriesInitialized = true;
        }
Ejemplo n.º 2
0
        public static List <DHParameter> GetDhParameterForRobot(RobotModels model)
        {
            if (!_factoriesInitialized)
            {
                InitializeFactories();
            }

            var parameter = new List <DHParameter>();


            //TODO: Implement other robot models
            switch (model)
            {
            case RobotModels.Kuka_KR300_R2500:
                throw new NotImplementedException();

            case RobotModels.Kuka_KR270_R2700:
                parameter = KukaRobotModelFactory.GetDHForKR270R2700();
                break;

            case RobotModels.Kuka_KR240_R2900:
                throw new NotImplementedException();

            case RobotModels.Kuka_KR210_R3100:
                throw new NotImplementedException();

            default:
                break;
            }

            return(parameter);
        }