private static void InitializeFactories()
{
_kukaFactory = new KukaRobotModelFactory();
_abbFactory = new ABBRobotModelFactory();
_factoriesInitialized = true;
}
public static List <DHParameter> GetDhParameterForRobot(RobotModels model)
{
if (!_factoriesInitialized)
{
InitializeFactories();
}
var parameter = new List <DHParameter>();
//TODO: Implement other robot models
switch (model)
{
case RobotModels.Kuka_KR300_R2500:
throw new NotImplementedException();
case RobotModels.Kuka_KR270_R2700:
parameter = KukaRobotModelFactory.GetDHForKR270R2700();
break;
case RobotModels.Kuka_KR240_R2900:
throw new NotImplementedException();
case RobotModels.Kuka_KR210_R3100:
throw new NotImplementedException();
default:
break;
}
return(parameter);
}