protected override void SolveInstance(IGH_DataAccess DA)
{
string name = null;
GH_Plane basePlane = null;
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref basePlane))
{
return;
}
var robotSystem = RobotSystem.Load(name, basePlane.Value);;
DA.SetData(0, new GH_RobotSystem(robotSystem));
}
public TestProgram()
{
var robot = RobotSystem.Load("Bartlett-IRB120", Plane.WorldXY);
var planeA = Plane.WorldYZ;
var planeB = Plane.WorldYZ;
planeA.Origin = new Point3d(300, 200, 610);
planeB.Origin = new Point3d(300, -200, 610);
var speed = new Speed(300);
var targetA = new CartesianTarget(planeA, RobotConfigurations.Wrist, Motions.Joint);
var targetB = new CartesianTarget(planeB, null, Motions.Linear, speed: speed);
var toolpath = new SimpleToolpath()
{
targetA, targetB
};
Program = new Program("TestProgram", robot, new[] { toolpath });
}