/// <summary>
/// Initializes a new instance of the Joint Target class by duplicating an existing Joint Target instance.
/// </summary>
/// <param name="jointTarget"> The Joint Target instance to duplicate. </param>
public JointTarget(JointTarget jointTarget)
{
_referenceType = jointTarget.ReferenceType;
_name = jointTarget.Name;
_robotJointPosition = jointTarget.RobotJointPosition.Duplicate();
_externalJointPosition = jointTarget.ExternalJointPosition.Duplicate();
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// Generate the code for the zone and speeddata
_speedData.ToRAPIDDeclaration(RAPIDGenerator);
_zoneData.ToRAPIDDeclaration(RAPIDGenerator);
// Generate code from robot targets
if (_target is RobotTarget robotTarget)
{
// Update the movement of the inverse kinematics
RAPIDGenerator.Robot.InverseKinematics.Movement = this;
// Generates the robot target variable for a MoveL or MoveJ instruction
if (_movementType == MovementType.MoveL || _movementType == MovementType.MoveJ)
{
RAPIDGenerator.Robot.InverseKinematics.CalculateExternalJointPosition();
robotTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
// Generates the joint target variable from a robot target for a MoveAbsJ instruction
else
{
if (!RAPIDGenerator.Targets.ContainsKey(robotTarget.Name + "_jt"))
{
// Calculate the axis values from the robot target
RAPIDGenerator.Robot.InverseKinematics.Calculate();
RAPIDGenerator.ErrorText.AddRange(new List <string>(RAPIDGenerator.Robot.InverseKinematics.ErrorText));
// Create a joint target from the axis values
RobotJointPosition robJointPosition = RAPIDGenerator.Robot.InverseKinematics.RobotJointPosition.Duplicate();
ExternalJointPosition extJointPosition = RAPIDGenerator.Robot.InverseKinematics.ExternalJointPosition.Duplicate();
JointTarget jointTarget = new JointTarget(robotTarget.Name + "_jt", robJointPosition, extJointPosition);
jointTarget.ReferenceType = _target.ReferenceType;
// Create the RAPID code
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
}
}
// Generate code from joint targets
else if (_target is JointTarget jointTarget)
{
// JointTarget with MoveAbsJ
if (_movementType == MovementType.MoveAbsJ)
{
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
RAPIDGenerator.ErrorText.AddRange(jointTarget.CheckAxisLimits(RAPIDGenerator.Robot));
}
// Joint Target combined with MoveL or MoveJ
else
{
throw new InvalidOperationException("Invalid Move instruction: A Joint Target cannot be combined with a MoveL or MoveJ instruction.");
}
}
}
