/// <summary>
/// Apply Rotation Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionRotation action)
{
Rotation newRot;
// @TODO: implement some kind of security check here...
if (action.relative)
{
// If user issued a relative action, make sure there are absolute values to work with (this limitation is due to current lack of FK/IK solvers).
if (position == null || rotation == null)
{
logger.Warning($"Cannot apply \"{action}\", must provide absolute rotation values first before applying relative ones... ");
return(false);
}
prevRotation = rotation;
if (referenceCS == ReferenceCS.World)
{
//rotation.RotateGlobal(action.rotation);
newRot = Rotation.Global(rotation, action.rotation); // @TODO: TEST THIS
}
else
{
//rotation.RotateLocal(action.rotation);
newRot = Rotation.Local(rotation, action.rotation); // @TODO: TEST THIS
}
}
else
{
// Fail if issued abs rotation without prior position info (this limitation is due to current lack of FK/IK solvers).
if (position == null)
{
logger.Warning($"Cannot apply \"{action}\", currently missing TCP position to work with... ");
return(false);
}
newRot = new Rotation(action.rotation);
}
prevRotation = rotation;
rotation = newRot;
prevPosition = position; // to flag same-position change
prevAxes = axes;
axes = null; // flag joints as null to avoid Joint instructions using obsolete data
if (isExtruding)
{
this.ComputeExtrudedLength();
}
if (_logRelativeActions && action.relative)
{
logger.Verbose("TCP orientation at " + new Orientation(this.rotation));
}
return(true);
}
/// <summary>
/// Apply Rotation Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionRotation action)
{
Rotation newRot;
// @TODO: implement some kind of security check here...
if (action.relative)
{
// If user issued a relative action, make sure there are absolute values to work with (this limitation is due to current lack of FK/IK solvers).
if (position == null || rotation == null)
{
Console.WriteLine("Sorry, must provide absolute rotation values first before applying relative ones... " + this);
return(false);
}
prevRotation = rotation;
if (referenceCS == ReferenceCS.World)
{
//rotation.RotateGlobal(action.rotation);
newRot = Rotation.Global(rotation, action.rotation); // @TODO: TEST THIS
}
else
{
//rotation.RotateLocal(action.rotation);
newRot = Rotation.Local(rotation, action.rotation); // @TODO: TEST THIS
}
}
else
{
// Fail if issued abs rotation without prior position info (this limitation is due to current lack of FK/IK solvers).
if (position == null)
{
Console.WriteLine("Sorry, currently missing TCP position to work with... " + this);
return(false);
}
newRot = new Rotation(action.rotation);
}
prevRotation = rotation;
rotation = newRot;
prevJoints = joints;
joints = null; // flag joints as null to avoid Joint instructions using obsolete data
if (isExtruding)
{
this.ComputeExtrudedLength();
}
return(true);
}