/// <summary>
/// Access to a specific reference child
/// If it dosen't exit, it is created
/// </summary>
public G3DCompBase GetRef(string name)
{
G3DCompBase reference = this[name] as GReference;
if (reference == null)
{
reference = new GReference(name);
Add(reference);
}
return(reference);
}
/// <summary>
/// Transform a point Z to the
/// </summary>
/// <param name="Z"></param>
/// <returns></returns>
public Millimeters TransformZ(Millimeters Z)
{
G3DCompBase reference = Container;
Z += Loc.Z;
if (reference == null || Loc.ZMode == G3DPoint.eMode.Absolute)
{
return(Z);
}
return(reference.TransformZ(Z));
}
/// <summary>
/// Convert Pixel point to MM in PointF
/// </summary>
/// <param name="pt"></param>
/// <returns></returns>
public PointF ConvertFromPixels(PointF pt)
{
G3DCompBase compTransferFuncs = TransferFuncComp;
if (compTransferFuncs != null && compTransferFuncs.PixToMMX != null && compTransferFuncs.PixToMMX != null)
{
float mmX = (float)compTransferFuncs.PixToMMX.Evaluate(pt.X, pt.Y);
float mmY = (float)compTransferFuncs.PixToMMY.Evaluate(pt.X, pt.Y);
return(new PointF(mmX, mmY));
}
return(PointF.Empty);
}
/// <summary>
/// Set the Location according to an image correction from the center of the image
/// </summary>
/// <param name="pixelX"></param>
/// <param name="pixelY"></param>
/// <param name="theta"></param>
/// <returns></returns>
public G3DPoint ConvertFromPixels(double pixelX, double pixelY, Radians theta)
{
G3DCompBase compTransferFuncs = TransferFuncComp;
if (compTransferFuncs != null && compTransferFuncs.PixToMMX != null && compTransferFuncs.PixToMMX != null)
{
Loc.X.Val = compTransferFuncs.PixToMMX.Evaluate(pixelX, pixelY);
Loc.Y.Val = compTransferFuncs.PixToMMY.Evaluate(pixelX, pixelY);
Loc.Yaw = -theta;
}
return(Loc);
}
/// <summary>
/// Convert the specific point to pixel space
/// </summary>
/// <param name="absPt"></param>
/// <returns></returns>
public PointF AbsPointToPixel(double x, double y)
{
PointF retPt = PointF.Empty;
G3DCompBase compTransferFuncs = TransferFuncComp;
if (compTransferFuncs != null && compTransferFuncs.MMToPixX != null && compTransferFuncs.MMToPixX != null)
{
retPt.X = (float)compTransferFuncs.MMToPixX.Evaluate(x, y);
retPt.Y = (float)compTransferFuncs.MMToPixY.Evaluate(x, y);
return(retPt);
}
return(retPt);
}
/// <summary>
/// Make a copy
/// </summary>
/// <param name="name"></param>
/// <param name="bRecursivley"></param>
/// <returns></returns>
public override CompBase Clone(string name, bool bRecursivley)
{
G3DCompBase newComp = base.Clone(name, bRecursivley) as G3DCompBase;
newComp.Loc = new G3DPoint(Loc);
newComp._speed.Val = _speed;
newComp._pulseWidth.Val = _pulseWidth;
newComp.ToolDelay.Val = ToolDelay;
newComp.DispenseZHtTarget = DispenseZHtTarget;
newComp.EditorZoom = EditorZoom;
newComp.EditorFocusPt = EditorFocusPt;
newComp.EditorImageAngle = EditorImageAngle;
return(newComp);
}
/// <summary>
/// Get the absolute robot coordinates (Used for Line elements: Trigger)
/// </summary>
/// <param name="distance">Distance along the Loc vector (angle of Yaw) </param>
/// <param name="applyToolOffset"> Ad the too offset to adjust for tool moounting position</param>
/// <returns></returns>
public G3DPoint GetRobotLoc(Millimeters distance, bool applyToolOffset)
{
if (Loc.XYYawMode == G3DPoint.eMode.Absolute)
{
double x = distance * Math.Cos(Loc.Yaw);
double y = distance * Math.Sin(Loc.Yaw);
if (Loc.ZMode == G3DPoint.eMode.Absolute)
{
return(new G3DPoint(Loc.X + x, Loc.Y + y, Loc.Z));
}
else
{
return(new G3DPoint(Loc.X + x, Loc.Y + y, 0));
}
}
G3DPoint pt = TransformXY(distance, 0);
if (Loc.ZMode == G3DPoint.eMode.Absolute)
{
pt.Z.Val = Loc.Z;
}
else
{
pt.Z.Val = TransformZ(0);
}
if (applyToolOffset && ToolComp != null)
{
if (_offsetComp == null && _offsetCompCheck == false)
{
_offsetComp = ToolComp.FilterByTypeSingle <G3DCompBase>();
_offsetCompCheck = true;
}
if (_offsetComp != null)
{
pt.X += _offsetComp.Loc.X;
pt.Y += _offsetComp.Loc.Y;
if (Loc.ZMode == G3DPoint.eMode.Relative)
{
pt.Z += _offsetComp.Loc.Z;
}
}
}
return(pt);
}
/// <summary>
/// Transform a point (x,y) to the
/// </summary>
/// <param name="X"></param>
/// <param name="Y"></param>
/// <returns></returns>
public G3DPoint TransformXY(Millimeters X, Millimeters Y)
{
G3DCompBase reference = Container;
if (Loc.XYYawMode == G3DPoint.eMode.Absolute)
{
return(new G3DPoint(Loc.X + X, Loc.Y + Y, 0.0));
}
G3DPoint outerPt = outerPt = new G3DPoint(Loc);
double dist = Math.Sqrt(X * X + Y * Y);
double theta = Math.Atan2(Y, X);
outerPt.X += dist * Math.Cos(theta + Loc.Yaw);
outerPt.Y += dist * Math.Sin(theta + Loc.Yaw);
if (reference == null)
{
return(outerPt);
}
return(reference.TransformXY(outerPt.X, outerPt.Y));
}
