internal RobotCell(string name, Manufacturers manufacturer, List <MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh?environment)
: base(name, manufacturer, io, basePlane, environment, GetDefaultPose(mechanicalGroups))
{
MechanicalGroups = mechanicalGroups;
foreach (var group in mechanicalGroups)
{
var movesRobot = group.Externals.Find(m => m.MovesRobot);
var robotDisplay = group.Robot.DisplayMesh;
if (movesRobot is not null)
{
var movableBase = movesRobot.Joints.Last().Plane;
movableBase.Orient(ref movesRobot.BasePlane);
robotDisplay.Transform(movableBase.ToTransform());
}
DisplayMesh.Append(robotDisplay);
foreach (var external in group.Externals)
{
DisplayMesh.Append(external.DisplayMesh);
}
}
DisplayMesh.Transform(BasePlane.ToTransform());
}
// public URRealTime URRealTime { get; set; }
internal RobotSystemUR(string name, RobotUR robot, IO io, Plane basePlane, Mesh?environment)
: base(name, Manufacturers.UR, io, basePlane, environment, GetDefaultPose(robot))
{
Remote = new RemoteUR();
Robot = robot;
DisplayMesh.Append(robot.DisplayMesh);
DisplayMesh.Transform(BasePlane.ToTransform());
}
Mesh CreateDisplayMesh()
{
var mesh = new Mesh();
mesh.Append(BaseMesh);
foreach (var joint in Joints)
mesh.Append(joint.Mesh);
mesh.Transform(BasePlane.ToTransform());
return mesh;
}
Mesh CreateDisplayMesh()
{
var mesh = new Mesh();
if (BaseMesh is null)
{
return(mesh);
}
mesh.Append(BaseMesh);
foreach (var joint in Joints)
{
mesh.Append(joint.Mesh);
}
mesh.Transform(BasePlane.ToTransform());
return(mesh);
}
