/// <summary>
/// Returns a list of MQuaternion based on the MPathConstraint
/// </summary>
/// <param name="pathConstraint"></param>
/// <returns></returns>
public static List <MQuaternion> GetMQuaternionList(this MPathConstraint pathConstraint)
{
//Create a list for storing the full trajectory
List <MQuaternion> list = new List <MQuaternion>();
foreach (MGeometryConstraint mg in pathConstraint.PolygonPoints)
{
MQuaternion r = new MQuaternion();
//Use the parent to constraint if defined
if (mg.ParentToConstraint != null)
{
r = mg.ParentToConstraint.Rotation.Clone();
}
else
{
r = mg.RotationConstraint.GetQuaternion();
}
list.Add(r);
}
return(list);
}
/// <summary>
/// Returns a list of MVector3 based on the MPathConstraint
/// </summary>
/// <param name="pathConstraint"></param>
/// <returns></returns>
public static List <MVector3> GetMVector3List(this MPathConstraint pathConstraint)
{
//Create a list for storing the full trajectory
List <MVector3> list = new List <MVector3>();
foreach (MGeometryConstraint mg in pathConstraint.PolygonPoints)
{
MVector3 p = new MVector3();
//Use the parent to constraint if defined
if (mg.ParentToConstraint != null)
{
p = mg.ParentToConstraint.Position.Clone();
}
else
{
p = mg.TranslationConstraint.GetVector3();
}
list.Add(p);
}
return(list);
}
/// <summary>
/// Returns a list of MTRansform based on the MPathConstraint
/// </summary>
/// <param name="pathConstraint"></param>
/// <returns></returns>
public static List <MTransform> GetMTransformList(this MPathConstraint pathConstraint)
{
//Create a list for storing the full trajectory
List <MTransform> list = new List <MTransform>();
foreach (MGeometryConstraint mg in pathConstraint.PolygonPoints)
{
MTransform t = null;
//Use the parent to constraint if defined
if (mg.ParentToConstraint != null)
{
t = new MTransform
{
ID = "",
Position = mg.ParentToConstraint.Position,
Rotation = mg.ParentToConstraint.Rotation
};
}
else
{
//Use the translation/rotation limits
t = new MTransform
{
ID = "",
Position = mg.TranslationConstraint.GetVector3(),
Rotation = MQuaternionExtensions.FromEuler(mg.TranslationConstraint.GetVector3())
};
}
list.Add(t);
}
return(list);
}
public void Read(TProtocol iprot)
{
iprot.IncrementRecursionDepth();
try
{
bool isset_ID = false;
TField field;
iprot.ReadStructBegin();
while (true)
{
field = iprot.ReadFieldBegin();
if (field.Type == TType.Stop)
{
break;
}
switch (field.ID)
{
case 1:
if (field.Type == TType.String)
{
ID = iprot.ReadString();
isset_ID = true;
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 2:
if (field.Type == TType.Struct)
{
GeometryConstraint = new MGeometryConstraint();
GeometryConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 3:
if (field.Type == TType.Struct)
{
VelocityConstraint = new MVelocityConstraint();
VelocityConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 4:
if (field.Type == TType.Struct)
{
AccelerationConstraint = new MAccelerationConstraint();
AccelerationConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 5:
if (field.Type == TType.Struct)
{
PathConstraint = new MPathConstraint();
PathConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 6:
if (field.Type == TType.Struct)
{
JointPathConstraint = new MJointPathConstraint();
JointPathConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 7:
if (field.Type == TType.Struct)
{
PostureConstraint = new MPostureConstraint();
PostureConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 8:
if (field.Type == TType.Struct)
{
JointConstraint = new MJointConstraint();
JointConstraint.Read(iprot);
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 9:
if (field.Type == TType.Map)
{
{
Properties = new Dictionary <string, string>();
TMap _map0 = iprot.ReadMapBegin();
for (int _i1 = 0; _i1 < _map0.Count; ++_i1)
{
string _key2;
string _val3;
_key2 = iprot.ReadString();
_val3 = iprot.ReadString();
Properties[_key2] = _val3;
}
iprot.ReadMapEnd();
}
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
default:
TProtocolUtil.Skip(iprot, field.Type);
break;
}
iprot.ReadFieldEnd();
}
iprot.ReadStructEnd();
if (!isset_ID)
{
throw new TProtocolException(TProtocolException.INVALID_DATA, "required field ID not set");
}
}
finally
{
iprot.DecrementRecursionDepth();
}
}
public void Read(TProtocol iprot)
{
iprot.IncrementRecursionDepth();
try
{
bool isset_JointType = false;
bool isset_PathConstraint = false;
TField field;
iprot.ReadStructBegin();
while (true)
{
field = iprot.ReadFieldBegin();
if (field.Type == TType.Stop)
{
break;
}
switch (field.ID)
{
case 1:
if (field.Type == TType.I32)
{
JointType = (MMIStandard.MJointType)iprot.ReadI32();
isset_JointType = true;
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
case 2:
if (field.Type == TType.Struct)
{
PathConstraint = new MPathConstraint();
PathConstraint.Read(iprot);
isset_PathConstraint = true;
}
else
{
TProtocolUtil.Skip(iprot, field.Type);
}
break;
default:
TProtocolUtil.Skip(iprot, field.Type);
break;
}
iprot.ReadFieldEnd();
}
iprot.ReadStructEnd();
if (!isset_JointType)
{
throw new TProtocolException(TProtocolException.INVALID_DATA, "required field JointType not set");
}
if (!isset_PathConstraint)
{
throw new TProtocolException(TProtocolException.INVALID_DATA, "required field PathConstraint not set");
}
}
finally
{
iprot.DecrementRecursionDepth();
}
}
public MJointPathConstraint(MMIStandard.MJointType JointType, MPathConstraint PathConstraint) : this()
{
this.JointType = JointType;
this.PathConstraint = PathConstraint;
}
