public com.robotraconteur.robotics.tool.ToolInfo ToRRInfo()
{
var info = new com.robotraconteur.robotics.tool.ToolInfo();
CopyTo(info);
return(info);
}
public void CopyTo(com.robotraconteur.robotics.tool.ToolInfo info)
{
info.device_info = device_info?.ToRRInfo();
info.tool_type = tool_type;
info.tool_capabilities = (uint)(tool_capabilities?.Aggregate((x, y) => x | y) ?? 0);
info.tcp = tcp?.ToRRInfo() ?? new Transform();
info.inertia = inertia?.ToRRInfo() ?? new SpatialInertia();
info.actuation_time = actuation_time;
info.close_position = close_position;
info.open_position = open_position;
info.command_min = command_min;
info.command_max = command_max;
info.command_close = command_close;
info.command_open = command_open;
info.sensor_type = sensor_type;
info.sensor_min = sensor_min ?? new double[0];
info.sensor_max = sensor_max ?? new double[0];
info.extended = extended?.ToDictionary(x => x.Key, x => x.Value?.value);
}
