/// <summary>
/// 构造函数
/// </summary>
/// <param name="InternalProcessor">内部UR数据处理类，用以获得相关数据交换和控制权</param>
/// <param name="RecordedJointAngles">数据库中记录的当前工具的初始关节角度</param>
/// <param name="InstallTcpPosition">数据库中记录的当前工具的安装TCP位置</param>
/// <param name="InstallHanged">数据库中记录的当前工具的安装方式</param>
/// <param name="ToolMass">数据库中记录的当前工具的重力</param>
public OperateModuleBase(URDataProcessor InternalProcessor, double[] RecordedJointAngles, double[] InstallTcpPosition, bool InstallHanged, double ToolMass)
{
internalProcessor = InternalProcessor;
initialJointAngles = (double[])RecordedJointAngles.Clone();
installTcpPosition = (double[])InstallTcpPosition.Clone();
installHanged = InstallHanged;
toolMass = ToolMass;
internalProcessor.OnSendZeroedForceCompeleted += ForceSenorClearingFinished;
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="Processor">UR数据处理器引用</param>
/// <param name="Port30004Used">是否使用30004端口</param>
public ServoFreeTranslation(URDataProcessor Processor, bool Port30004Used)
: base(Processor, Port30004Used)
{
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="Processor">UR数据处理器引用</param>
/// <param name="Port30004Used">是否使用30004端口</param>
public ServoTangentialTranslationWithForce(URDataProcessor Processor, bool Port30004Used)
: base(Processor, Port30004Used)
{
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="Processor">UR数据处理器引用</param>
/// <param name="Port30004Used">是否使用30004端口</param>
public ServoMotionBase(URDataProcessor Processor, bool Port30004Used)
{
internalProcessor = Processor;
ifPort30004Used = Port30004Used;
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="Processor">UR数据处理器引用</param>
public NonServoFindForceTranslation(URDataProcessor Processor)
: base(Processor)
{
}
protected bool nonServoMotionActivePause = false; // 非伺服运动模式是否被主动暂停
#endregion
#region 方法
/// <summary>
/// 构造函数
/// </summary>
/// <param name="Processor">UR数据处理器引用</param>
public NonServoMotionBase(URDataProcessor Processor)
{
internalProcessor = Processor;
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="InternalProcessor">内部UR数据处理类，用以获得相关数据交换和控制权</param>
/// <param name="RecordedJointAngles">数据库中记录的当前工具的初始关节角度</param>
/// <param name="InstallTcpPosition">数据库中记录的当前工具的安装TCP位置</param>
/// <param name="InstallHanged">数据库中记录的当前工具的安装方式</param>
/// <param name="ToolMass">数据库中记录的当前工具的重力</param>
public ThyroidScanner(URDataProcessor InternalProcessor, double[] RecordedJointAngles, double[] InstallTcpPosition, bool InstallHanged, double ToolMass) :
base(InternalProcessor, RecordedJointAngles, InstallTcpPosition, InstallHanged, ToolMass)
{
InitialXmlProcessor(); // 初始化XML处理者
}
