public static PlanBuilder Shape4dTest()
{
var metricShapeThickness = 300;
var points = ShapeDrawing.CircleToSquare();
var projector = new PlaneProjector(metricShapeThickness, Configuration.FullWireLength);
var projectedPoints = projector.Project(points);
var planner = new StraightLinePlanner4D(Speed.FromDeltaT(3000));
return(planner.CreateConstantPlan(new Trajectory4D(projectedPoints.As4Dstep())));
}
/// <summary>
/// Builds plan configured by the workspace.
/// ASSUMING the starting position be correctly set up on <see cref="EntryPoint"/>.
/// </summary>
internal void BuildPlan(PlanBuilder plan)
{
var speedPoints = new List <Speed4Dstep>();
_entryPoint.Build(this, speedPoints, null);
var planPoints = speedPoints.Select(p => p.Point).ToList();
var segmentSpeeds = speedPoints.Select(p => Tuple.Create(p.SpeedUV, p.SpeedXY)).ToArray();
//scheduler needs referential point
planPoints.Insert(0, _entryPoint.CutPoints.First());
var scheduler = new StraightLinePlanner4D(CuttingSpeed);
var trajectoryPlan = scheduler.CreateConstantPlan(new Trajectory4D(planPoints), segmentSpeeds);
plan.Add(trajectoryPlan.Build());
}