public override List <KinematicSolution> Kinematics(IEnumerable <Target> targets, IEnumerable <double[]> prevJoints = null, bool displayMeshes = false)
{
var target = targets.First();
var prevJoint = prevJoints?.First();
var kinematics = new List <KinematicSolution>();
var kinematic = Robot.Kinematics(target, prevJoint, displayMeshes, this.BasePlane);
var planes = kinematic.Planes.ToList();
var meshes = (displayMeshes) ? kinematic.Meshes.ToList() : null;
// Tool
if (target.Tool != null)
{
Plane toolPlane = target.Tool.Tcp;
toolPlane.Transform(planes[planes.Count - 1].ToTransform());
planes.Add(toolPlane);
}
else
{
planes.Add(planes[planes.Count - 1]);
}
if (displayMeshes)
{
if (target.Tool?.Mesh != null)
{
Mesh toolMesh = target.Tool.Mesh.DuplicateMesh();
toolMesh.Transform(Transform.PlaneToPlane(target.Tool.Tcp, planes[planes.Count - 1]));
meshes.Add(toolMesh);
}
else
{
meshes.Add(null);
}
kinematic.Meshes = meshes.ToArray();
}
kinematic.Planes = planes.ToArray();
kinematics.Add(kinematic);
return(kinematics);
}
