Exemple #1
0
        // Beginning method for exporting the full package
        public void exportRobot()
        {
            //Setting up the progress bar

            int progressBarBound = Common.getCount(mRobot.BaseLink);

            progressBar.Start(0, progressBarBound, "Creating package directories");

            //Creating package directories
            URDFPackage package = new URDFPackage(mPackageName, mSavePath);

            package.createDirectories();
            mRobot.name = mPackageName;
            string windowsURDFFileName     = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
            string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";

            //Creating manifest file
            manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
            manifest       Manifest       = new manifest(mPackageName);

            Manifest.writeElement(manifestWriter);

            //Creating RVIZ launch file
            Rviz rviz = new Rviz(mPackageName, mRobot.name + ".URDF");

            rviz.writeFiles(package.WindowsLaunchDirectory);

            //Creating Gazebo launch file
            Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".URDF");

            gazebo.writeFile(package.WindowsLaunchDirectory);


            //Customizing STL preferences to how I want them
            saveUserPreferences();
            setSTLExportPreferences();

            //Saving part as STL mesh
            AssemblyDoc   assyDoc          = (AssemblyDoc)ActiveSWModel;
            List <string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));

            ActiveSWModel.Extension.SelectAll();
            ActiveSWModel.HideComponent2();
            string filename = exportFiles(mRobot.BaseLink, package, 0);

            mRobot.BaseLink.Visual.Geometry.Mesh.filename    = filename;
            mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;

            Common.showAllComponents(ActiveSWModel, hiddenComponents);
            //Writing URDF to file

            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);

            mRobot.writeURDF(uWriter.writer);

            resetUserPreferences();
            progressBar.End();
        }
Exemple #2
0
        // Used only by the part exporter
        public void exportLink(bool zIsUp)
        {
            createBaseRefOrigin(zIsUp);
            MathTransform   coordSysTransform = ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
            Matrix <double> GlobalTransform   = ops.getTransformation(coordSysTransform);

            localizeLink(mRobot.BaseLink, GlobalTransform);

            //Creating package directories
            URDFPackage package = new URDFPackage(mPackageName, mSavePath);

            package.createDirectories();
            string meshFileName            = package.MeshesDirectory + mRobot.BaseLink.name + ".STL";
            string windowsMeshFileName     = package.WindowsMeshesDirectory + mRobot.BaseLink.name + ".STL";
            string windowsURDFFileName     = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
            string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";

            //Creating manifest file
            manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
            manifest       Manifest       = new manifest(mRobot.name);

            Manifest.writeElement(manifestWriter);

            //Customizing STL preferences to how I want them
            saveUserPreferences();
            setSTLExportPreferences();
            setLinkSpecificSTLPreferences("", mRobot.BaseLink.STLQualityFine, ActiveSWModel);
            int errors   = 0;
            int warnings = 0;

            //Saving part as STL mesh

            ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion, (int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
            mRobot.BaseLink.Visual.Geometry.Mesh.filename    = meshFileName;
            mRobot.BaseLink.Collision.Geometry.Mesh.filename = meshFileName;

            correctSTLMesh(windowsMeshFileName);

            mRobot.BaseLink.Visual.Material.Texture.filename = package.TexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
            string textureSavePath = package.WindowsTexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);

            if (mRobot.BaseLink.Visual.Material.Texture.wFilename != "")
            {
                System.IO.File.Copy(mRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
            }

            //Writing URDF to file
            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);

            //mRobot.addLink(mLink);
            mRobot.writeURDF(uWriter.writer);

            resetUserPreferences();
        }
Exemple #3
0
        public void writeElement(manifestWriter mWriter)
        {
            XmlWriter writer = mWriter.writer;

            writer.WriteStartDocument();
            writer.WriteStartElement("package");

            Description.writeElement(writer);
            foreach (depend dep in Depends)
            {
                dep.writeElement(writer);
            }

            Author.writeElement(writer);
            License.writeElement(writer);

            writer.WriteEndElement();
            writer.WriteEndDocument();
            writer.Close();
        }
Exemple #4
0
        public void writeElement(manifestWriter mWriter)
        {
            XmlWriter writer = mWriter.writer;
            writer.WriteStartDocument();
            writer.WriteStartElement("package");

            Description.writeElement(writer);
            foreach (depend dep in Depends)
            {
                dep.writeElement(writer);
            }

            Author.writeElement(writer);
            License.writeElement(writer);

            writer.WriteEndElement();
            writer.WriteEndDocument();
            writer.Close();
        }
Exemple #5
0
        // Beginning method for exporting the full package
        public void exportRobot()
        {
            //Setting up the progress bar

            int progressBarBound = Common.getCount(mRobot.BaseLink);
            progressBar.Start(0, progressBarBound, "Creating package directories");

            //Creating package directories
            URDFPackage package = new URDFPackage(mPackageName, mSavePath);
            package.createDirectories();
            mRobot.name = mPackageName;
            string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
            string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";

            //Creating manifest file
            manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
            manifest Manifest = new manifest(mPackageName);
            Manifest.writeElement(manifestWriter);

            //Creating RVIZ launch file
            Rviz rviz = new Rviz(mPackageName, mRobot.name + ".URDF");
            rviz.writeFiles(package.WindowsLaunchDirectory);

            //Creating Gazebo launch file
            Gazebo gazebo = new Gazebo(this.mRobot.name, this.mPackageName, mRobot.name + ".URDF");
            gazebo.writeFile(package.WindowsLaunchDirectory);


            //Customizing STL preferences to how I want them
            saveUserPreferences();
            setSTLExportPreferences();

            //Saving part as STL mesh
            AssemblyDoc assyDoc = (AssemblyDoc)ActiveSWModel;
            List<string> hiddenComponents = Common.findHiddenComponents(assyDoc.GetComponents(false));
            ActiveSWModel.Extension.SelectAll();
            ActiveSWModel.HideComponent2();
            string filename = exportFiles(mRobot.BaseLink, package, 0);
            mRobot.BaseLink.Visual.Geometry.Mesh.filename = filename;
            mRobot.BaseLink.Collision.Geometry.Mesh.filename = filename;
            
            Common.showAllComponents(ActiveSWModel, hiddenComponents);
            //Writing URDF to file

            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
            mRobot.writeURDF(uWriter.writer);

            resetUserPreferences();
            progressBar.End();
        }
Exemple #6
0
        // Used only by the part exporter
        public void exportLink(bool zIsUp)
        {
            
            createBaseRefOrigin(zIsUp);
            MathTransform coordSysTransform = ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
            Matrix<double> GlobalTransform = ops.getTransformation(coordSysTransform);

            localizeLink(mRobot.BaseLink, GlobalTransform);

            //Creating package directories
            URDFPackage package = new URDFPackage(mPackageName, mSavePath);
            package.createDirectories();
            string meshFileName = package.MeshesDirectory + mRobot.BaseLink.name + ".STL";
            string windowsMeshFileName = package.WindowsMeshesDirectory + mRobot.BaseLink.name + ".STL";
            string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".URDF";
            string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";

            //Creating manifest file
            manifestWriter manifestWriter = new manifestWriter(windowsManifestFileName);
            manifest Manifest = new manifest(mRobot.name);
            Manifest.writeElement(manifestWriter);

            //Customizing STL preferences to how I want them
            saveUserPreferences();
            setSTLExportPreferences();
            setLinkSpecificSTLPreferences("", mRobot.BaseLink.STLQualityFine, ActiveSWModel);
            int errors = 0;
            int warnings = 0;

            //Saving part as STL mesh

            ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion, (int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
            mRobot.BaseLink.Visual.Geometry.Mesh.filename = meshFileName;
            mRobot.BaseLink.Collision.Geometry.Mesh.filename = meshFileName;

            correctSTLMesh(windowsMeshFileName);

            mRobot.BaseLink.Visual.Material.Texture.filename = package.TexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
            string textureSavePath = package.WindowsTexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
            if (mRobot.BaseLink.Visual.Material.Texture.wFilename != "")
            {
                System.IO.File.Copy(mRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
            }

            //Writing URDF to file
            URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
            //mRobot.addLink(mLink);
            mRobot.writeURDF(uWriter.writer);

            resetUserPreferences();
        }