protected override void SolveInstance(IGH_DataAccess DA)
{
var numbers = new List <double>();
Plane plane;
GH_RobotSystem robotSystem = null;
if (!DA.GetDataList(0, numbers))
{
return;
}
DA.GetData(1, ref robotSystem);
if (robotSystem == null)
{
if (numbers.Count != 7)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "The list should be made out of 7 numbers."); return;
}
plane = RobotCellAbb.QuaternionToPlane(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5], numbers[6]);
}
else
{
if (robotSystem.Value.Manufacturer == Manufacturers.ABB)
{
if (numbers.Count != 7)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "The list should be made out of 7 numbers."); return;
}
}
else
{
if (numbers.Count != 6)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, " The list should be made out of 6 numbers."); return;
}
}
plane = robotSystem.Value.NumbersToPlane(numbers.ToArray());
}
DA.SetData(0, plane);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
double[] numbers;
GH_Plane plane = null;
GH_RobotSystem robotSystem = null;
if (!DA.GetData(0, ref plane))
{
return;
}
DA.GetData(1, ref robotSystem);
if (robotSystem == null)
{
numbers = RobotCellAbb.PlaneToQuaternion(plane.Value);
}
else
{
numbers = robotSystem.Value.PlaneToNumbers(plane.Value);
}
DA.SetDataList(0, numbers);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
var degrees = new List <double>();
GH_RobotSystem robotSystem = null;
int group = 0;
if (!DA.GetDataList(0, degrees))
{
return;
}
if (!DA.GetData(1, ref robotSystem))
{
return;
}
if (!DA.GetData(2, ref group))
{
return;
}
var radians = degrees.Select((x, i) => (robotSystem.Value).DegreeToRadian(x, i, group));
string radiansText = string.Join(",", radians.Select(x => $"{x:0.00000}"));
DA.SetData(0, radiansText);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_RobotSystem robotSystem = null;
var targets = new List <GH_Target>();
var prevJointsText = new List <GH_String>();
bool drawMeshes = false;
if (!DA.GetData(0, ref robotSystem))
{
return;
}
if (!DA.GetDataList(1, targets))
{
return;
}
DA.GetDataList(2, prevJointsText);
if (!DA.GetData(3, ref drawMeshes))
{
return;
}
List <double[]> prevJoints = null;
if (prevJointsText.Count > 0)
{
prevJoints = new List <double[]>();
foreach (var text in prevJointsText)
{
if (text != null)
{
string[] jointsText = text.Value.Split(',');
var prevJoint = new double[jointsText.Length];
for (int i = 0; i < jointsText.Length; i++)
{
if (!GH_Convert.ToDouble_Secondary(jointsText[i], ref prevJoint[i]))
{
throw new Exception(" Previous joints not formatted correctly.");
}
}
prevJoints.Add(prevJoint);
}
}
}
var kinematics = robotSystem.Value.Kinematics(targets.Select(x => x.Value), prevJoints, drawMeshes);
var errors = kinematics.SelectMany(x => x.Errors);
if (errors.Count() > 0)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Errors in solution");
}
var strings = kinematics.SelectMany(x => x.Joints).Select(x => new GH_Number(x).ToString());
var joints = string.Join(",", strings);
var planes = kinematics.SelectMany(x => x.Planes);
if (drawMeshes)
{
var meshes = kinematics.SelectMany(x => x.Meshes);
DA.SetDataList(0, meshes.Select(x => new GH_Mesh(x)));
}
DA.SetData(1, joints);
DA.SetDataList(2, planes.Select(x => new GH_Plane(x)));
DA.SetDataList(3, errors);
}
public GH_RobotSystem(GH_RobotSystem goo)
{
this.Value = goo.Value;
}
protected override void SolveInstance(IGH_DataAccess DA)
{
string name = null;
GH_RobotSystem robotSystem = null;
var initCommandsGH = new List <GH_Command>();
var targetsA = new List <GH_Target>();
var targetsB = new List <GH_Target>();
var multiFileIndices = new List <int>();
double stepSize = 1;
if (!DA.GetData(0, ref name))
{
return;
}
if (!DA.GetData(1, ref robotSystem))
{
return;
}
if (!DA.GetDataList(2, targetsA))
{
return;
}
DA.GetDataList(3, targetsB);
DA.GetDataList(4, initCommandsGH);
DA.GetDataList(5, multiFileIndices);
if (!DA.GetData(6, ref stepSize))
{
return;
}
var initCommands = initCommandsGH.Count > 0 ? new Robots.Commands.Group(initCommandsGH.Select(x => x.Value)) : null;
var targets = new List <IEnumerable <Target> >();
targets.Add(targetsA.Select(x => x.Value));
if (targetsB.Count > 0)
{
targets.Add(targetsB.Select(x => x.Value));
}
var program = new Program(name, robotSystem.Value, targets, initCommands, multiFileIndices, stepSize);
DA.SetData(0, new GH_Program(program));
if (program.Code != null)
{
var path = DA.ParameterTargetPath(2);
var structure = new GH_Structure <GH_String>();
for (int i = 0; i < program.Code.Count; i++)
{
var tempPath = path.AppendElement(i);
for (int j = 0; j < program.Code[i].Count; j++)
{
structure.AppendRange(program.Code[i][j].Select(x => new GH_String(x)), tempPath.AppendElement(j));
}
}
DA.SetDataTree(1, structure);
}
DA.SetData(2, program.Duration);
if (program.Warnings.Count > 0)
{
DA.SetDataList(3, program.Warnings);
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Warnings in program");
}
if (program.Errors.Count > 0)
{
DA.SetDataList(4, program.Errors);
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Errors in program");
}
}
