/// <summary>
/// </summary>
/// <param name="sender">
/// </param>
/// <param name="e">
/// </param>
private void MainWindow_OnLoaded(object sender, RoutedEventArgs e)
{
// Ok, let's start to build our virtual robot arm !
this.model = new DenavitHartenbergModel(new Vector3(0, 0, 0));
// Add the first joint
this.model.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 35, offset: 0);
// Add the second joint
this.model.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 35, offset: 0);
// Create the top finger
this.model_tgripper = new DenavitHartenbergModel();
this.model_tgripper.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 20, offset: 0);
this.model_tgripper.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 20, offset: 0);
// Create the bottom finger
this.model_bgripper = new DenavitHartenbergModel();
this.model_bgripper.Joints.Add(alpha: 0, theta: -Math.PI / 4, radius: 20, offset: 0);
this.model_bgripper.Joints.Add(alpha: 0, theta: Math.PI / 3, radius: 20, offset: 0);
// Create the model combinator from the parent model
this.arm = new DenavitHartenbergNode(this.model);
// Add the top finger
this.arm.Children.Add(this.model_tgripper);
// Add the bottom finger
this.arm.Children.Add(this.model_bgripper);
// Calculate the whole model (parent model + children models)
this.arm.Compute();
// Create the model visualizer
this.viewer = new DenavitHartenbergViewer(300, 300)
{
JointRadius = 4f
};
// Assign each projection image of the model to a picture box
this.pictureBox1.Source = this.viewer.PlaneXY;
this.pictureBox2.Source = this.viewer.PlaneXZ;
this.pictureBox3.Source = this.viewer.PlaneYZ;
// Start the animation
timer1 = new DispatcherTimer();
timer1.Interval = new TimeSpan(0, 0, 0, 0, 40);
timer1.Tick += this.timer1_Tick;
timer1.Start();
}
private void MainForm_Load(object sender, EventArgs e)
{
// Ok, let's start to build our virtual robot arm !
model = new DenavitHartenbergModel(new Vector3(0, 0, 0));
// Add the first joint
model.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 35, offset: 0);
// Add the second joint
model.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 35, offset: 0);
// Create the top finger
model_tgripper = new DenavitHartenbergModel();
model_tgripper.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 20, offset: 0);
model_tgripper.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 20, offset: 0);
// Create the bottom finger
model_bgripper = new DenavitHartenbergModel();
model_bgripper.Joints.Add(alpha: 0, theta: -Math.PI / 4, radius: 20, offset: 0);
model_bgripper.Joints.Add(alpha: 0, theta: Math.PI / 3, radius: 20, offset: 0);
// Create the model combinator from the parent model
arm = new DenavitHartenbergNode(model);
// Add the top finger
arm.Children.Add(model_tgripper);
// Add the bottom finger
arm.Children.Add(model_bgripper);
// Calculate the whole model (parent model + children models)
arm.Compute();
// Create the model visualizer
viewer = new DenavitHartenbergViewer(pictureBox1.Width, pictureBox1.Height);
// Assign each projection image of the model to a picture box
pictureBox1.Image = viewer.PlaneXY;
pictureBox2.Image = viewer.PlaneXZ;
pictureBox3.Image = viewer.PlaneYZ;
// Start the animation
timer1.Interval = 40;
timer1.Enabled = true;
}
private void MainForm_Load(object sender, EventArgs e)
{
// Ok, let's start to build our virtual robot arm !
model = new DenavitHartenbergModel(new Vector3(0, 0, 0));
// Add the first joint
model.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 35, offset: 0);
// Add the second joint
model.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 35, offset: 0);
// Create the top finger
model_tgripper = new DenavitHartenbergModel();
model_tgripper.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 20, offset: 0);
model_tgripper.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 20, offset: 0);
// Create the bottom finger
model_bgripper = new DenavitHartenbergModel();
model_bgripper.Joints.Add(alpha: 0, theta: -Math.PI / 4, radius: 20, offset: 0);
model_bgripper.Joints.Add(alpha: 0, theta: Math.PI / 3, radius: 20, offset: 0);
// Create the model combinator from the parent model
arm = new DenavitHartenbergNode(model);
// Add the top finger
arm.Children.Add(model_tgripper);
// Add the bottom finger
arm.Children.Add(model_bgripper);
// Calculate the whole model (parent model + children models)
arm.Compute();
// Create the model visualizer
viewer = new DenavitHartenbergViewer(pictureBox1.Width, pictureBox1.Height);
// Assign each projection image of the model to a picture box
pictureBox1.Image = viewer.PlaneXY;
pictureBox2.Image = viewer.PlaneXZ;
pictureBox3.Image = viewer.PlaneYZ;
// Start the animation
timer1.Interval = 40;
timer1.Enabled = true;
}
/// <summary>
/// Makes a list of all the models contained on a
/// ModelCombinator. This function is recursive.
/// </summary>
///
/// <param name="model">
/// ModelCombinator model in which to extract all the models. </param>
/// <param name="models">
/// List of already extracted models. It accumulates all the
/// models at each call of this function.</param>
///
/// <returns>Returns a list of all the models contained in the
/// ModelCombinator 'model' plus all previously extracted models</returns>
///
private List <DenavitHartenbergModel> GetAllModels(DenavitHartenbergNode model,
List <DenavitHartenbergModel> models)
{
// If it's the first call
if (models == null)
{
// Create the models list
models = new List <DenavitHartenbergModel>();
}
// Add the model contained in the ModelCombinator
models.Add(model.Model);
// For all the children of the ModelCombinator
foreach (DenavitHartenbergNode child in model.Children)
{
// Execute recursively this function
models = GetAllModels(child, models);
}
// Return the models list
return(models);
}
/// <summary>
/// Makes a list of all the models contained on a
/// ModelCombinator. This function is recursive.
/// </summary>
///
/// <param name="model">
/// ModelCombinator model in which to extract all the models. </param>
/// <param name="models">
/// List of already extracted models. It accumulates all the
/// models at each call of this function.</param>
///
/// <returns>Returns a list of all the models contained in the
/// ModelCombinator 'model' plus all previously extracted models</returns>
///
private List<DenavitHartenbergModel> GetAllModels(DenavitHartenbergNode model,
List<DenavitHartenbergModel> models)
{
// If it's the first call
if (models == null)
{
// Create the models list
models = new List<DenavitHartenbergModel>();
}
// Add the model contained in the ModelCombinator
models.Add(model.Model);
// For all the children of the ModelCombinator
foreach (DenavitHartenbergNode child in model.Children)
{
// Execute recursively this function
models = GetAllModels(child, models);
}
// Return the models list
return models;
}
