public MovePoseOperationBase(MovePoseArgs args) { this.EndEffector = args.EndEffector; this.Seed = args.Seed; this.TargetPose = args.TargetPose; this.StartPose = args.StartPose; this.Start = args.Start; this.MoveGroup = this.EndEffector.MoveGroup; this.VelocityScaling = args.VelocityScaling; this.AccelerationScaling = args.AccelerationScaling; this.Parameters = this.MoveGroup.BuildPlanParameters(args.VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.SampleResolution); this.TaskSpaceParameters = this.EndEffector.BuildTaskSpacePlanParameters(args.VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.IkJumpThreshold); if (args.SampleResolution.HasValue) { this.TaskSpaceParameters = this.TaskSpaceParameters.WithSampleResolution(args.SampleResolution.Value); } }
public MovePoseCollisionFreeOperation(MovePoseArgs args) : base(args) { }
protected override IMovePoseOperation Build(MovePoseArgs args) => new MovePoseCollisionFreeOperation(args);
public MovePoseLinearOperation(MovePoseArgs args) : base(args) { }
protected override IMovePoseOperation Build(MovePoseArgs args) => new MovePoseLinearOperation(args);
protected abstract IMovePoseOperation Build(MovePoseArgs args);