public async void AddOrientation(string name, string robotName)
{
Debug.Assert(CurrentActionPoint != null);
IRobot robot;
try {
robot = SceneManager.Instance.GetRobotByName(robotName);
} catch (ItemNotFoundException ex) {
Notifications.Instance.ShowNotification("Failed to add orientation", "Could not found robot called: " + robotName);
Debug.LogError(ex);
return;
}
if (CurrentActionPoint.OrientationNameExist(name) || CurrentActionPoint.JointsNameExist(name))
{
Notifications.Instance.ShowNotification("Failed to add orientation", "There already exists orientation or joints with name " + name);
return;
}
IO.Swagger.Model.Orientation orientation = new IO.Swagger.Model.Orientation();
if (CurrentActionPoint.Parent != null)
{
orientation = DataHelper.QuaternionToOrientation(TransformConvertor.UnityToROS(Quaternion.Inverse(CurrentActionPoint.Parent.GetTransform().rotation)));
}
preselectedOrientation = name;
bool successOrientation = await Base.GameManager.Instance.AddActionPointOrientation(CurrentActionPoint, orientation, name);
bool successJoints = await Base.GameManager.Instance.AddActionPointJoints(CurrentActionPoint, name, robot.GetId());
if (successOrientation && successJoints)
{
inputDialog.Close();
}
else
{
preselectedOrientation = null;
}
}
public static Quaternion OrientationToQuaternion(IO.Swagger.Model.Orientation orientation) => new Quaternion((float)orientation.X, (float)orientation.Y, (float)orientation.Z, (float)orientation.W);
public void SetOrientation(IO.Swagger.Model.Orientation orientation)
{
transform.localRotation = TransformConvertor.ROSToUnity(DataHelper.OrientationToQuaternion(orientation));
}
