/// <summary>
/// Adds a new sensor to the Robot model, creating a joint and link object for the component being added.
/// </summary>
/// <param name="component">The component object being added. MUST NOT BE NULL</param>
/// <param name="parent">The name of the parent link that this component is linked to. MUST NOT BE NULL OR EMPTY</param>
/// <param name="xyz">The XYZ offset of this component from its parent link. MUST NOT BE NULL</param>
/// <param name="rpy">The RPY offset of this component from its parent link. MUST NOT BE NULL</param>
/// <returns><c>true</c> if the component was successfully added, otherwise <c>false</c></returns>
public string AddComponent(Component component, string parent, XyzAttribute xyz, RpyAttribute rpy)
{
Preconditions.IsNotNull(component, "Cannot add a null component to the Robot");
Preconditions.IsNotEmpty(parent, $"Cannot add component '{component.Name}' to the Robot model with missing parent name");
Preconditions.IsNotNull(xyz, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null XYZ offset");
Preconditions.IsNotNull(rpy, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null RPY offset");
if (!this.Links.ContainsKey(parent))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{Name}' doesn't contain link called '{parent}'");
return(null);
}
string linkName = GenerateUniqueKey(component.Name, new List <string>(this.Links.Keys));
string jointName = GenerateUniqueKey($"{component.Name}_joint", new List <string>(this.Joints.Keys));
Geometry geometry = (component.Box != null) ? new Geometry(new Box(component.Box.Size))
: new Geometry(new Mesh.Builder(component.FileName).Build());
Visual visual = new Visual.Builder(geometry).Build();
Link link = new Link.Builder(linkName).SetVisual(visual).Build();
Joint joint = new Joint.Builder(jointName, Joint.JointType.Fixed, this.Links[parent], link).Build();
this.Links.Add(link.Name, link);
this.Joints.Add(joint.Name, joint);
return(linkName);
}
/// <summary>
/// Adds a new sensor to the Robot model, creating a joint object for the component being added.
/// </summary>
/// <param name="component">The Robot model object being added. MUST NOT BE NULL</param>
/// <param name="parent">The name of the parent link on this Robot that this component is linked to. MUST NOT BE NULL OR EMPTY</param>
/// <param name="child">The name of the child link on the component Robot that this component is linked by. MUST NOT BE NULL OR EMPTY</param>
/// <param name="xyz">The XYZ offset of this component from its parent link. MUST NOT BE NULL</param>
/// <param name="rpy">The RPY offset of this component from its parent link. MUST NOT BE NULL</param>
/// <returns>The name of the connected Link object if the component was successfully added, otherwise <c>null</c></returns>
public string AddComponent(Robot component, string parent, string child, XyzAttribute xyz, RpyAttribute rpy)
{
Preconditions.IsNotNull(component, "Cannot add a null component to the Robot");
Preconditions.IsNotEmpty(parent, $"Cannot add component '{component.Name}' to the Robot model with missing parent name");
Preconditions.IsNotEmpty(child, $"Cannot add component '{component.Name}' to the Robot model with missing child name");
Preconditions.IsNotNull(xyz, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null XYZ offset");
Preconditions.IsNotNull(rpy, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null RPY offset");
if (!this.Links.ContainsKey(parent))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{Name}' doesn't contain link called '{parent}'");
return(null);
}
if (!component.Links.ContainsKey(child))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{component.Name}' doesn't contain link called '{child}'");
return(null);
}
string jointName = GenerateUniqueKey($"{component.Name}_joint", new List <string>(this.Joints.Keys));
Joint newJoint = new Joint.Builder(jointName, Joint.JointType.Fixed, this.Links[parent], component.Links[child]).Build();
this.Joints.Add(newJoint.Name, newJoint);
foreach (Link link in component.Links.Values)
{
this.Links.Add(link.Name, link);
}
foreach (Joint joint in component.Joints.Values)
{
this.Joints.Add(joint.Name, joint);
}
return(child);
}
