/// <summary>
/// Initializes a new instance of the Robot class with attached external axes.
/// </summary>
/// <param name="name"> The name. </param>
/// <param name="meshes"> The base and links meshes defined in the world coorindate space. </param>
/// <param name="internalAxisPlanes"> The internal axes planes defined in the world coorindate space. </param>
/// <param name="internalAxisLimits"> The internal axes limit. </param>
/// <param name="basePlane"> The position and orientation of the robot base in the world coordinate space. </param>
/// <param name="mountingFrame"> The tool mounting frame definied in the world coordinate space. </param>
/// <param name="tool"> The Robot Tool. </param>
/// <param name="externalAxes"> The attached external axes. </param>
public Robot(string name, List <Mesh> meshes, List <Plane> internalAxisPlanes, List <Interval> internalAxisLimits, Plane basePlane, Plane mountingFrame, RobotTool tool, List <ExternalAxis> externalAxes)
{
// Robot related fields
_name = name;
_meshes = meshes;
_internalAxisPlanes = internalAxisPlanes;
_internalAxisLimits = internalAxisLimits;
_basePlane = basePlane;
_mountingFrame = mountingFrame;
// Tool related fields
_tool = tool.Duplicate(); // Make a deep copy since we transform it later
_meshes.Add(GetAttachedToolMesh());
CalculateAttachedToolPlane();
// External axis related fields
_externalAxes = externalAxes;
_externalAxisPlanes = new List <Plane>();
_externalAxisLimits = new List <Interval>();
UpdateExternalAxisFields();
// Transform Robot Tool to Mounting Frame
Transform trans = Transform.PlaneToPlane(_tool.AttachmentPlane, _mountingFrame);
_tool.Transform(trans);
// Set kinematics
_inverseKinematics = new InverseKinematics(new RobotTarget("init", Plane.WorldXY), this);
_forwardKinematics = new ForwardKinematics(this);
}
/// <summary>
/// Initializes a new instance of the Robot Tool class by duplicating an existing Robot Tool instance.
/// </summary>
/// <param name="robotTool"> The Robot Tool instance to duplicate. </param>
/// <param name="duplicateMesh"> Specifies whether the meshes should be duplicated. </param>
public RobotTool(RobotTool robotTool, bool duplicateMesh = true)
{
_referenceType = robotTool.ReferenceType;
_name = robotTool.Name;
_attachmentPlane = new Plane(robotTool.AttachmentPlane);
_toolPlane = new Plane(robotTool.ToolPlane);
_robotHold = robotTool.RobotHold;
_mass = robotTool.Mass;
_centerOfGravity = new Plane(robotTool.CenterOfGravity);
_centerOfGravityPosition = new Point3d(robotTool.CenterOfGravityPosition);
_centerOfGravityOrientation = robotTool.CenterOfGravityOrientation;
_inertia = new Vector3d(robotTool.Inertia);
_position = new Point3d(robotTool.Position);
_orientation = robotTool.Orientation;
if (duplicateMesh == true)
{
_mesh = robotTool.Mesh.DuplicateMesh();
}
else
{
} //_mesh = new Mesh(); }
}
private List <Interval> _externalAxisLimits; // The external axis limit
#endregion
#region (de)serialization
/// <summary>
/// Protected constructor needed for deserialization of the object.
/// </summary>
/// <param name="info"> The SerializationInfo to extract the data from. </param>
/// <param name="context"> The context of this deserialization. </param>
protected Robot(SerializationInfo info, StreamingContext context)
{
_name = (string)info.GetValue("Name", typeof(string));
_meshes = (List <Mesh>)info.GetValue("Meshes", typeof(List <Mesh>));
_internalAxisPlanes = (List <Plane>)info.GetValue("Internal Axis Planes", typeof(List <Plane>));
_internalAxisLimits = (List <Interval>)info.GetValue("Internal Axis Limits", typeof(List <Interval>));
_basePlane = (Plane)info.GetValue("Base Plane", typeof(Plane));
_mountingFrame = (Plane)info.GetValue("Mounting Frame", typeof(Plane));
_tool = (RobotTool)info.GetValue("RobotTool", typeof(RobotTool));
_toolPlane = (Plane)info.GetValue("Tool Plane", typeof(Plane));
_externalAxes = (List <ExternalAxis>)info.GetValue("External Axis", typeof(List <ExternalAxis>));
_externalAxisPlanes = (List <Plane>)info.GetValue("External Axis Planes", typeof(List <Plane>));
_externalAxisLimits = (List <Interval>)info.GetValue("External Axis Limits", typeof(List <Interval>));
_inverseKinematics = new InverseKinematics(new RobotTarget("init", Plane.WorldXY), this);
_forwardKinematics = new ForwardKinematics(this);
}
/// <summary>
/// Initializes a new instance of the Robot class by duplicating an existing Robot instance.
/// </summary>
/// <param name="robot"> The Robot instance to duplicate. </param>
public Robot(Robot robot)
{
// Robot related fields
_name = robot.Name;
_meshes = robot.Meshes.ConvertAll(mesh => mesh.DuplicateMesh()); // This includes the tool mesh
_internalAxisPlanes = new List <Plane>(robot.InternalAxisPlanes);
_internalAxisLimits = new List <Interval>(robot.InternalAxisLimits);
_basePlane = new Plane(robot.BasePlane);
_mountingFrame = new Plane(robot.MountingFrame);
// Tool related fields
_tool = robot.Tool.Duplicate();
_toolPlane = new Plane(robot.ToolPlane);
// External axis related fields
_externalAxes = new List <ExternalAxis>(robot.ExternalAxes); //TODO: make deep copy
_externalAxisPlanes = new List <Plane>(robot.ExternalAxisPlanes);
_externalAxisLimits = new List <Interval>(robot.ExternalAxisLimits);
// Kinematics
_inverseKinematics = new InverseKinematics(robot.InverseKinematics.Movement.Duplicate(), this);
_forwardKinematics = new ForwardKinematics(this, robot.ForwardKinematics.HideMesh);
}
/// <summary>
/// Returns a predefined ABB Robot preset.
/// </summary>
/// <param name="preset"> The Robot preset type. </param>
/// <param name="positionPlane"> The position and orientation of the Robot in world coordinate space. </param>
/// <param name="tool"> The Robot Tool. </param>
/// <param name="externalAxes"> The external axes attached to the Robot. </param>
/// <returns></returns>
public static Robot GetRobotPreset(RobotPreset preset, Plane positionPlane, RobotTool tool, List <ExternalAxis> externalAxes = null)
{
// Check Robot Tool data
if (tool == null)
{
tool = new RobotTool();
}
// Check External Axes
if (externalAxes == null)
{
externalAxes = new List <ExternalAxis>()
{
};
}
else if (preset == RobotPreset.EMPTY)
{
return(new Robot());
}
if (preset == RobotPreset.IRB1100_4_0475)
{
return(IRB1100_4_0475.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1100_4_058)
{
return(IRB1100_4_058.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB120_3_058)
{
return(IRB120_3_058.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1200_5_090)
{
return(IRB1200_5_090.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1200_7_070)
{
return(IRB1200_7_070.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_10_115)
{
return(IRB1300_10_115.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_11_090)
{
return(IRB1300_11_090.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1300_7_140)
{
return(IRB1300_7_140.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB140_6_081)
{
return(IRB140_6_081.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1600_X_120)
{
return(IRB1600_X_120.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1600_X_145)
{
return(IRB1600_X_145.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB1660ID_X_155)
{
return(IRB1660ID_X_155.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600_12_185)
{
return(IRB2600_12_185.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600_X_165)
{
return(IRB2600_X_165.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600ID_15_185)
{
return(IRB2600ID_15_185.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB2600ID_8_200)
{
return(IRB2600ID_8_200.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_20_250)
{
return(IRB4600_20_250.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_40_255)
{
return(IRB4600_40_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB4600_X_205)
{
return(IRB4600_X_205.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6620_150_220)
{
return(IRB6620_150_220.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6640_235_255)
{
return(IRB6640_235_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650_125_320)
{
return(IRB6650_125_320.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650_200_275)
{
return(IRB6650_200_275.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_125_350)
{
return(IRB6650S_125_350.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_200_300)
{
return(IRB6650S_200_300.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6650S_90_390)
{
return(IRB6650S_90_390.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_150_320)
{
return(IRB6700_150_320.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_155_285)
{
return(IRB6700_155_285.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_175_305)
{
return(IRB6700_175_305.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_200_260)
{
return(IRB6700_200_260.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_205_280)
{
return(IRB6700_205_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_235_265)
{
return(IRB6700_235_265.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_245_300)
{
return(IRB6700_245_300.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6700_300_270)
{
return(IRB6700_300_270.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6790_205_280)
{
return(IRB6790_205_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB6790_235_265)
{
return(IRB6790_235_265.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_150_350)
{
return(IRB7600_150_350.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_325_310)
{
return(IRB7600_325_310.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_340_280)
{
return(IRB7600_340_280.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_400_255)
{
return(IRB7600_400_255.GetRobot(positionPlane, tool, externalAxes));
}
else if (preset == RobotPreset.IRB7600_500_255)
{
return(IRB7600_500_255.GetRobot(positionPlane, tool, externalAxes));
}
else
{
throw new Exception("Could not find the data of the defined Robot preset type.");
}
}
