public MoveJointsOperationBase(MoveJointsArgs args)
{
this.Start = args.Start;
this.Target = args.Target;
this.MoveGroup = args.MoveGroup;
this.VelocityScaling = args.VelocityScaling;
this.AccelerationScaling = args.AccelerationScaling;
this.Parameters = this.MoveGroup.BuildPlanParameters(VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.SampleResolution);
}
public MoveJointsCollisionFreeOperation(MoveJointsArgs args)
: base(args)
{
}
protected override IMoveJointsOperation Build(MoveJointsArgs args) => new MoveJointsCollisionFreeOperation(args);
public MoveJointsOperation(MoveJointsArgs args)
: base(args)
{
}
protected abstract IMoveJointsOperation Build(MoveJointsArgs args);
