public MovePoseOperationBase(MovePoseArgs args)
{
this.EndEffector = args.EndEffector;
this.Seed = args.Seed;
this.TargetPose = args.TargetPose;
this.StartPose = args.StartPose;
this.Start = args.Start;
this.MoveGroup = this.EndEffector.MoveGroup;
this.VelocityScaling = args.VelocityScaling;
this.AccelerationScaling = args.AccelerationScaling;
this.Parameters = this.MoveGroup.BuildPlanParameters(args.VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.SampleResolution);
this.TaskSpaceParameters = this.EndEffector.BuildTaskSpacePlanParameters(args.VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.IkJumpThreshold);
if (args.SampleResolution.HasValue)
{
this.TaskSpaceParameters = this.TaskSpaceParameters.WithSampleResolution(args.SampleResolution.Value);
}
}
public MovePoseCollisionFreeOperation(MovePoseArgs args)
: base(args)
{
}
protected override IMovePoseOperation Build(MovePoseArgs args) => new MovePoseCollisionFreeOperation(args);
public MovePoseLinearOperation(MovePoseArgs args)
: base(args)
{
}
protected override IMovePoseOperation Build(MovePoseArgs args) => new MovePoseLinearOperation(args);
protected abstract IMovePoseOperation Build(MovePoseArgs args);