}//addRobotBars
//Generate the label for constraints in the entire struture
private string getConstraintLabel()
{
IRobotLabel supportLabel = iRobotApp.Project.Structure.Labels.Create(IRobotLabelType.I_LT_SUPPORT, "Apoios");
IRobotNodeSupportData supports = (RobotNodeSupportData)supportLabel.Data;
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RX, 0);
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RY, 0);
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RZ, 0);
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UX, 1);
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UY, 1);
supports.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UZ, 1);
iRobotApp.Project.Structure.Labels.Store(supportLabel);
return(supportLabel.Name);
}//getConstraintLabel
private void CreateNodes()
{
IRobotLabel sup = _structure.Labels.Create(IRobotLabelType.I_LT_SUPPORT, "CatiaSupport");
IRobotNodeSupportData sup_data = sup.Data as IRobotNodeSupportData;
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UX, 1);
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UY, 1);
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_UZ, 1);
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RX, 0);
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RY, 0);
sup_data.SetFixed(IRobotNodeSupportFixingDirection.I_NSFD_RZ, 0);
_structure.Labels.Store(sup);
int nodeId = 100;
for (int i = 0; i < _nodeInfo.Count; i++)
{
Console.WriteLine("Now creating " + nodeId.ToString() + "...");
var n = (AnalyticalNode)_nodeInfo[i];
//create the robot node
_nodes.Create(nodeId, n.X, n.Y, n.Z);
if (n.IsFixed == true)
{
Console.WriteLine("Fixing node " + nodeId.ToString() + "...");
IRobotNode node = _nodes.Get(nodeId) as IRobotNode;
node.SetLabel(IRobotLabelType.I_LT_NODE_SUPPORT, "CatiaSupport");
}
//set the robot node information in the List
//to be pushed back into the XML
n.Id = nodeId; //the robot node Id
//n.displaceX = 0.0;
//n.displaceY = 0.0;
//n.displaceZ = 0.0;
nodeId++;
}
}