/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
Robot robot = null;
Movement Movement = null;
// Catch the input data
if (!DA.GetData(0, ref robot))
{
return;
}
if (!DA.GetData(1, ref Movement))
{
return;
}
// Calculate the robot pose
_inverseKinematics = new InverseKinematics(Movement, robot);
_inverseKinematics.Calculate();
// Check the values
for (int i = 0; i < _inverseKinematics.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _inverseKinematics.ErrorText[i]);
}
// Set forward kinematics (for visualization)
_forwardKinematics = new ForwardKinematics(robot);
// Output
DA.SetData(0, _inverseKinematics.RobotJointPosition);
DA.SetData(1, _inverseKinematics.ExternalJointPosition);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
Robot robot = null;
Movement Movement = null;
// Catch the input data
if (!DA.GetData(0, ref robot))
{
return;
}
if (!DA.GetData(1, ref Movement))
{
return;
}
// Calculate the robot pose
InverseKinematics inverseKinematics = new InverseKinematics(Movement, robot);
inverseKinematics.Calculate();
// Check the values
for (int i = 0; i < inverseKinematics.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, inverseKinematics.ErrorText[i]);
}
// Create list with externan axis values
List <double> externalAxisValues = inverseKinematics.ExternalJointPosition.ToList();
externalAxisValues.RemoveAll(val => val == 9e9);
// Output
DA.SetDataList(0, inverseKinematics.RobotJointPosition.ToList());
DA.SetDataList(1, externalAxisValues);
}
