//Used right now only by the Part Exporter, but this starts the building of the robot
public void createRobotFromActiveModel()
{
mRobot = new robot();
mRobot.name = ActiveSWModel.GetTitle();
Configuration swConfig = ActiveSWModel.ConfigurationManager.ActiveConfiguration;
foreach (string state in swConfig.GetDisplayStates())
{
if (state.Equals("URDF Export"))
{
swConfig.ApplyDisplayState("URDF Export");
}
}
//Each Robot contains a single base link, build this link
mRobot.BaseLink = createBaseLinkFromActiveModel();
}
//Fills either TreeView from the URDF robot
public void fillTreeViewFromRobot(robot Robot, TreeView tree)
{
LinkNode baseNode = new LinkNode();
link baseLink = Robot.BaseLink;
baseNode.Name = baseLink.name;
baseNode.Text = baseLink.name;
baseNode.Link = baseLink;
baseNode.isBaseNode = true;
baseNode.linkName = baseLink.name;
baseNode.Components = baseLink.SWcomponents;
baseNode.coordsysName = "Origin_global";
baseNode.isIncomplete = false;
foreach (link child in baseLink.Children)
{
baseNode.Nodes.Add(createLinkNodeFromLink(child));
}
tree.Nodes.Add(baseNode);
tree.ExpandAll();
}
//Populates the TreeView with the organized links from the robot
public void fillTreeViewFromRobot(robot robot)
{
tree.Nodes.Clear();
LinkNode baseNode = new LinkNode();
link baseLink = robot.BaseLink;
baseNode.Name = baseLink.name;
baseNode.Text = baseLink.name;
baseNode.Link = baseLink;
baseNode.ContextMenuStrip = docMenu;
foreach (link child in baseLink.Children)
{
baseNode.Nodes.Add(createLinkNodeFromLink(child));
}
tree.Nodes.Add(baseNode);
tree.ExpandAll();
}
// The one used by the Assembly Exporter
public void createRobotFromTreeView(LinkNode baseNode)
{
mRobot = new robot();
progressBar.Start(0, Common.getCount(baseNode.Nodes) + 1, "Building links");
int count = 0;
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Building link: " + baseNode.Name);
count++;
link BaseLink = createLink(baseNode, 1);
mRobot.BaseLink = BaseLink;
baseNode.Link = BaseLink;
progressBar.End();
}
//Fills either TreeView from the URDF robot
public void fillTreeViewFromRobot(robot Robot, TreeView tree)
{
LinkNode baseNode = new LinkNode();
link baseLink = Robot.BaseLink;
baseNode.Name = baseLink.name;
baseNode.Text = baseLink.name;
baseNode.Link = baseLink;
baseNode.isBaseNode = true;
baseNode.linkName = baseLink.name;
baseNode.Components = baseLink.SWcomponents;
baseNode.coordsysName = "Origin_global";
baseNode.isIncomplete = false;
foreach (link child in baseLink.Children)
{
baseNode.Nodes.Add(createLinkNodeFromLink(child));
}
tree.Nodes.Add(baseNode);
tree.ExpandAll();
}