internal RobotUR(string model, double payload, Plane basePlane, Mesh baseMesh, Joint[] joints) : base(model, Manufacturers.UR, payload, basePlane, baseMesh, joints) { }
internal RobotArm(string model, Manufacturers manufactuer, double payload, Plane basePlane, Mesh baseMesh, Joint[] joints) : base(model, manufactuer, payload, basePlane, baseMesh, joints, false) { }
internal static Mechanism Create(XElement element)
{
var modelName = element.Attribute(XName.Get("model")).Value;
var manufacturer = (Manufacturers)Enum.Parse(typeof(Manufacturers), element.Attribute(XName.Get("manufacturer")).Value);
string fullName = $"{element.Name.LocalName}.{manufacturer.ToString()}.{modelName}";
bool movesRobot = false;
var movesRobotAttribute = element.Attribute(XName.Get("movesRobot"));
if (movesRobotAttribute != null)
{
movesRobot = XmlConvert.ToBoolean(movesRobotAttribute.Value);
}
var meshes = GetMeshes(fullName);
double payload = Convert.ToDouble(element.Attribute(XName.Get("payload")).Value);
var baseMesh = meshes[0].DuplicateMesh();
XElement baseElement = element.Element(XName.Get("Base"));
double x = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("x")).Value);
double y = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("y")).Value);
double z = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("z")).Value);
double q1 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q1")).Value);
double q2 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q2")).Value);
double q3 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q3")).Value);
double q4 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q4")).Value);
var basePlane = RobotCellAbb.QuaternionToPlane(x, y, z, q1, q2, q3, q4);
var jointElements = element.Element(XName.Get("Joints")).Descendants().ToArray();
Joint[] joints = new Joint[jointElements.Length];
for (int i = 0; i < jointElements.Length; i++)
{
var jointElement = jointElements[i];
double a = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("a")).Value);
double d = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("d")).Value);
string text = jointElement.Attribute(XName.Get("minrange")).Value;
double minRange = XmlConvert.ToDouble(text);
double maxRange = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxrange")).Value);
Interval range = new Interval(minRange, maxRange);
double maxSpeed = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxspeed")).Value);
Mesh mesh = meshes[i + 1].DuplicateMesh();
int number = XmlConvert.ToInt32(jointElement.Attribute(XName.Get("number")).Value) - 1;
if (jointElement.Name == "Revolute")
{
joints[i] = new RevoluteJoint()
{
Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed.ToRadians(), Mesh = mesh
}
}
;
else if (jointElement.Name == "Prismatic")
{
joints[i] = new PrismaticJoint()
{
Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed, Mesh = mesh
}
}
;
}
switch (element.Name.ToString())
{
case ("RobotArm"):
{
switch (manufacturer)
{
case (Manufacturers.ABB):
return(new RobotAbb(modelName, payload, basePlane, baseMesh, joints));
case (Manufacturers.KUKA):
return(new RobotKuka(modelName, payload, basePlane, baseMesh, joints));
case (Manufacturers.UR):
return(new RobotUR(modelName, payload, basePlane, baseMesh, joints));
default:
return(null);
}
}
case ("Positioner"):
return(new Positioner(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot));
case ("Track"):
return(new Track(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot));
default:
return(null);
}
}
internal static Mechanism Create(XElement element)
{
var modelName = element.Attribute(XName.Get("model")).Value;
var manufacturer = (Manufacturers)Enum.Parse(typeof(Manufacturers), element.Attribute(XName.Get("manufacturer")).Value);
string fullName = $"{element.Name.LocalName}.{manufacturer.ToString()}.{modelName}";
bool movesRobot = false;
var movesRobotAttribute = element.Attribute(XName.Get("movesRobot"));
if (movesRobotAttribute != null) movesRobot = XmlConvert.ToBoolean(movesRobotAttribute.Value);
var meshes = GetMeshes(fullName);
double payload = Convert.ToDouble(element.Attribute(XName.Get("payload")).Value);
var baseMesh = meshes[0].DuplicateMesh();
XElement baseElement = element.Element(XName.Get("Base"));
double x = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("x")).Value);
double y = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("y")).Value);
double z = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("z")).Value);
double q1 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q1")).Value);
double q2 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q2")).Value);
double q3 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q3")).Value);
double q4 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q4")).Value);
var basePlane = RobotCellAbb.QuaternionToPlane(x, y, z, q1, q2, q3, q4);
var jointElements = element.Element(XName.Get("Joints")).Descendants().ToArray();
Joint[] joints = new Joint[jointElements.Length];
for (int i = 0; i < jointElements.Length; i++)
{
var jointElement = jointElements[i];
double a = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("a")).Value);
double d = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("d")).Value);
string text = jointElement.Attribute(XName.Get("minrange")).Value;
double minRange = XmlConvert.ToDouble(text);
double maxRange = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxrange")).Value);
Interval range = new Interval(minRange, maxRange);
double maxSpeed = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxspeed")).Value);
Mesh mesh = meshes[i + 1].DuplicateMesh();
int number = XmlConvert.ToInt32(jointElement.Attribute(XName.Get("number")).Value) - 1;
if (jointElement.Name == "Revolute")
joints[i] = new RevoluteJoint() { Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed.ToRadians(), Mesh = mesh };
else if (jointElement.Name == "Prismatic")
joints[i] = new PrismaticJoint() { Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed, Mesh = mesh };
}
switch (element.Name.ToString())
{
case ("RobotArm"):
{
switch (manufacturer)
{
case (Manufacturers.ABB):
return new RobotAbb(modelName, payload, basePlane, baseMesh, joints);
case (Manufacturers.KUKA):
return new RobotKuka(modelName, payload, basePlane, baseMesh, joints);
case (Manufacturers.UR):
return new RobotUR(modelName, payload, basePlane, baseMesh, joints);
default:
return null;
}
}
case ("Positioner"):
return new Positioner(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot);
case ("Track"):
return new Track(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot);
default:
return null;
}
}
internal Track(string model, Manufacturers manufacturer, double payload, Plane basePlane, Mesh baseMesh, Joint[] joints, bool movesRobot) : base(model, manufacturer, payload, basePlane, baseMesh, joints, movesRobot) { }
