/// <summary>
/// Returns the RAPID declaration code line of the this action.
/// </summary>
/// <param name="robot"> The Robot were the code is generated for. </param>
/// <returns> The RAPID code line. </returns>
public override string ToRAPIDDeclaration(Robot robot)
{
string code = Enum.GetName(typeof(ReferenceType), _referenceType);
code += " jointtarget ";
code += _name;
code += " := [";
code += _robotJointPosition.ToRAPID();
code += ", ";
code += _externalJointPosition.ToRAPID();
code += "];";
return(code);
}
/// <summary>
/// Returns the RAPID declaration code line of the this action.
/// </summary>
/// <param name="robot"> The Robot were the code is generated for. </param>
/// <returns> The RAPID code line. </returns>
public override string ToRAPIDDeclaration(Robot robot)
{
string code = Enum.GetName(typeof(ReferenceType), _referenceType);
code += " robtarget ";
code += _name;
code += " := [";
code += "[" + _plane.Origin.X.ToString("0.##") + ", ";
code += _plane.Origin.Y.ToString("0.##") + ", ";
code += _plane.Origin.Z.ToString("0.##") + "]";
code += ", ";
code += "[" + _quat.A.ToString("0.######") + ", ";
code += _quat.B.ToString("0.######") + ", ";
code += _quat.C.ToString("0.######") + ", ";
code += _quat.D.ToString("0.######") + "]";
code += ", ";
code += "[0,0,0," + _axisConfig + "]";
code += ", ";
code += _externalJointPosition.ToRAPID(); //TODO: Use the external axis values one from the IK of the robot?
code += "];";
return(code);
}
