/// <summary>
/// Initializes a new instance of the Robot class with attached external axes.
/// </summary>
/// <param name="name"> The name. </param>
/// <param name="meshes"> The base and links meshes defined in the world coorindate space. </param>
/// <param name="internalAxisPlanes"> The internal axes planes defined in the world coorindate space. </param>
/// <param name="internalAxisLimits"> The internal axes limit. </param>
/// <param name="basePlane"> The position and orientation of the robot base in the world coordinate space. </param>
/// <param name="mountingFrame"> The tool mounting frame definied in the world coordinate space. </param>
/// <param name="tool"> The Robot Tool. </param>
/// <param name="externalAxes"> The attached external axes. </param>
public Robot(string name, List <Mesh> meshes, List <Plane> internalAxisPlanes, List <Interval> internalAxisLimits, Plane basePlane, Plane mountingFrame, RobotTool tool, List <ExternalAxis> externalAxes)
{
// Robot related fields
_name = name;
_meshes = meshes;
_internalAxisPlanes = internalAxisPlanes;
_internalAxisLimits = internalAxisLimits;
_basePlane = basePlane;
_mountingFrame = mountingFrame;
// Tool related fields
_tool = tool.Duplicate(); // Make a deep copy since we transform it later
_meshes.Add(GetAttachedToolMesh());
CalculateAttachedToolPlane();
// External axis related fields
_externalAxes = externalAxes;
_externalAxisPlanes = new List <Plane>();
_externalAxisLimits = new List <Interval>();
UpdateExternalAxisFields();
// Transform Robot Tool to Mounting Frame
Transform trans = Transform.PlaneToPlane(_tool.AttachmentPlane, _mountingFrame);
_tool.Transform(trans);
// Set kinematics
_inverseKinematics = new InverseKinematics(new RobotTarget("init", Plane.WorldXY), this);
_forwardKinematics = new ForwardKinematics(this);
}
/// <summary>
/// Transforms the robot spatial properties (planes and meshes).
/// NOTE: The attached external axes will not be transformed.
/// </summary>
/// <param name="xform"> Spatial deform. </param>
public void Transfom(Transform xform)
{
_basePlane.Transform(xform);
_mountingFrame.Transform(xform);
_tool.Transform(xform);
for (int i = 0; i < _meshes.Count; i++)
{
_meshes[i].Transform(xform);
}
for (int i = 0; i < _internalAxisPlanes.Count; i++)
{
Plane transformedPlane = new Plane(_internalAxisPlanes[i]);
transformedPlane.Transform(xform);
_internalAxisPlanes[i] = new Plane(transformedPlane);
}
CalculateAttachedToolPlane();
}