public com.robotraconteur.robotics.robot.RobotInfo ToRRInfo()
{
var info = new com.robotraconteur.robotics.robot.RobotInfo();
CopyTo(info);
return(info);
}
public MotomanHSCRobot(com.robotraconteur.robotics.robot.RobotInfo robot_info) : base(robot_info, -1)
{
_uses_homing = false;
_has_position_command = true;
_has_velocity_command = false;
_update_period = 2;
robot_info.robot_capabilities &= (uint)(RobotCapabilities.jog_command & RobotCapabilities.position_command & RobotCapabilities.trajectory_command);
}
public SawyerRobot(com.robotraconteur.robotics.robot.RobotInfo robot_info, string ros_ns_prefix = "") : base(robot_info, 7)
{
this._ros_ns_prefix = "";
if (robot_info.joint_info == null)
{
_joint_names = Enumerable.Range(0, 7).Select(x => $"right_j{x}").ToArray();
}
this._trajectory_error_tol = 1000;
}
public ABBRobot(com.robotraconteur.robotics.robot.RobotInfo robot_info) : base(robot_info, -1)
{
_uses_homing = false;
_has_position_command = true;
_has_velocity_command = false;
_update_period = 4;
robot_info.robot_capabilities &= (uint)(RobotCapabilities.jog_command & RobotCapabilities.position_command & RobotCapabilities.trajectory_command);
this._trajectory_error_tol = 1000;
}
public BaxterRobot(com.robotraconteur.robotics.robot.RobotInfo robot_info, BaxterRobotArmSelection arm_selection, string ros_ns_prefix = "") : base(robot_info, 14)
{
this._ros_ns_prefix = "";
if (robot_info.joint_info == null)
{
throw new ArgumentException("Robot joint info must be provided");
}
_joint_names_right = new string[] { "right_s0", "right_s1", "right_e0", "right_e1",
"right_w0", "right_w1", "right_w2" };
_joint_names_left = new string[] { "left_s0", "left_s1", "left_e0", "left_e1",
"left_w0", "left_w1", "left_w2" };
switch (arm_selection)
{
case BaxterRobotArmSelection.both:
{
string[] _both_joint_names = new string[] { "left_s0", "left_s1", "left_e0", "left_e1",
"left_w0", "left_w1", "left_w2", "right_s0", "right_s1", "right_e0", "right_e1",
"right_w0", "right_w1", "right_w2" };
if (!Enumerable.SequenceEqual(_joint_names, _both_joint_names))
{
throw new ArgumentException("Invalid joint names specified for both arms");
}
_arm_selection = BaxterRobotArmSelection.both;
break;
}
case BaxterRobotArmSelection.left:
{
if (!Enumerable.SequenceEqual(_joint_names, _joint_names_left))
{
throw new ArgumentException("Invalid joint names specified for left arm");
}
_arm_selection = BaxterRobotArmSelection.left;
break;
}
case BaxterRobotArmSelection.right:
{
if (!Enumerable.SequenceEqual(_joint_names, _joint_names_right))
{
throw new ArgumentException("Invalid joint names specified for right arm");
}
_arm_selection = BaxterRobotArmSelection.right;
break;
}
default:
throw new ArgumentException("Invalid arm selection");
}
}
public void CopyTo(com.robotraconteur.robotics.robot.RobotInfo robot_info)
{
robot_info.device_info = device_info?.ToRRInfo();
robot_info.robot_type = robot_type;
robot_info.joint_info = joint_info?.Select(x => x?.ToRRInfo()).ToList();
robot_info.chains = chains?.Select(x => x?.ToRRInfo()).ToList();
robot_info.robot_capabilities = (uint)(robot_capabilities?.Aggregate((x, y) => x | y) ?? 0);
robot_info.signal_info = signal_info?.Select(x => x?.ToRRInfo()).ToList();
robot_info.parameter_info = parameter_info?.Select(x => x?.ToRRInfo()).ToList();
robot_info.extended = extended?.ToDictionary(x => x.Key, x => x.Value?.value);
}
