예제 #1
0
파일: URDFWriter.cs 프로젝트: yatli/sw2urdf
 public joint()
 {
     Origin      = new origin();
     Parent      = new parent_link();
     Child       = new child_link();
     Axis        = new axis();
     Limit       = new limit();
     Calibration = new calibration();
     Dynamics    = new dynamics();
     Safety      = new safety_controller();
 }
예제 #2
0
        //Inserts a sketch segment for use when creating a Reference Axis
        public SketchSegment addSketchGeometry(axis Axis, origin Origin)
        {
            if (ActiveSWModel.SketchManager.ActiveSketch == null)
            {
                bool sketchExists = ActiveSWModel.Extension.SelectByID2(referenceSketchName, "SKETCH", 0, 0, 0, false, 0, null, 0);
                ActiveSWModel.SketchManager.Insert3DSketch(true);
            }

            //Insert sketch segment 0.1m long centered on the origin.
            SketchSegment RotAxis = ActiveSWModel.SketchManager.CreateLine(Origin.X - 0.05 * Axis.X,
                                                               Origin.Y - 0.05 * Axis.Y,
                                                               Origin.Z - 0.05 * Axis.Z,
                                                               Origin.X + 0.05 * Axis.X,
                                                               Origin.Y + 0.05 * Axis.Y,
                                                               Origin.Z + 0.05 * Axis.Z);
            if (RotAxis == null)
            {
                return null;
            }
            RotAxis.ConstructionGeometry = true;
            RotAxis.Width = 2;

            //Close sketch
            if (ActiveSWModel.SketchManager.ActiveSketch != null)
            {
                ActiveSWModel.SketchManager.Insert3DSketch(true);

            }
            return RotAxis;
        }
예제 #3
0
파일: URDF.cs 프로젝트: chlai/sw2urdf
 public joint()
 {
     Origin = new origin();
     Parent = new parent_link();
     Child = new child_link();
     Axis = new axis();
     Name = new Attribute();
     Name.isRequired = true;
     Name.type = "name";
     name = "";
     Type = new Attribute();
     Type.isRequired = true;
     Type.type = "type";
     
 }
예제 #4
0
파일: URDFWriter.cs 프로젝트: chlai/sw2urdf
 public joint()
 {
     Origin = new origin();
     Parent = new parent_link();
     Child = new child_link();
     Axis = new axis();
     Limit = new limit();
     Calibration = new calibration();
     Dynamics = new dynamics();
     Safety = new safety_controller();
 }