public com.robotraconteur.robotics.robot.RobotKinChainInfo ToRRInfo()
{
var info = new com.robotraconteur.robotics.robot.RobotKinChainInfo();
CopyTo(info);
return(info);
}
public void CopyTo(com.robotraconteur.robotics.robot.RobotKinChainInfo info)
{
info.kin_chain_identifier = kin_chain_identifier?.ToRRInfo();
info.H = H?.Select(x => x.ToRRInfo()).ToArray() ?? new Vector3[0];
info.P = P?.Select(x => x.ToRRInfo()).ToArray() ?? new Vector3[0];
info.link_inertias = link_inertias?.Select(x => x.ToRRInfo()).ToArray() ?? new SpatialInertia[0];
info.link_identifiers = link_identifiers?.Select(x => x.ToRRInfo()).ToList();
info.joint_numbers = joint_numbers?.ToArray() ?? new uint[0];
info.flange_pose = flange_pose?.ToRRInfo() ?? new Pose();
info.flange_identifier = flange_identifier?.ToRRInfo();
info.current_tool = current_tool?.ToRRInfo();
info.current_payload = current_payload?.ToRRInfo();
info.tcp_max_velocity = tcp_max_velocity?.ToRRInfo() ?? default;
info.tcp_max_acceleration = tcp_max_acceleration?.ToRRInfo() ?? default;
info.extended = extended?.ToDictionary(x => x.Key, x => x.Value?.value);
}
