/// <summary>
 /// Method to create an absolute joint movement.
 /// </summary>
 /// <param name="name">Name of joint target, must be unique.</param>
 /// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
 /// <param name="externalAxisValues">List of external axis values. The length of the list should be (for now) equal to 1.</param>
 /// <param name="speedData"> The SpeedData as a SpeedData </param>
 /// <param name="zoneData"> The ZoneData as a ZoneData </param>
 /// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
 public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
 {
     _name = name;
     _internalAxisValues = CheckInternalAxisValues(internalAxisValues);
     _externalAxisValues = CheckExternalAxisValues(externalAxisValues);
     _speedData          = speedData;
     _movementType       = MovementType.MoveAbsJ; // The movement type is always an Absolute Joint Movement
     _zoneData           = zoneData;
     _robotTool          = robotTool;
 }
 /// <summary>
 /// Method to create a absolute joint movement with an empty robot tool (no override).
 /// </summary>
 /// <param name="name">Name of joint target, must be unique.</param>
 /// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
 /// <param name="externalAxisValues">List of external axis values. </param>
 /// <param name="speedData"> The SpeedData as a SpeedData </param>
 /// <param name="precision"> Robot movement precision. This value will be casted to the nearest predefined zonedata value. Use -1 for fine. </param>
 public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues, SpeedData speedData, int precision)
 {
     _name = name;
     _internalAxisValues = CheckInternalAxisValues(internalAxisValues);
     _externalAxisValues = CheckExternalAxisValues(externalAxisValues);
     _speedData          = speedData;
     _movementType       = MovementType.MoveAbsJ; // The movement type is always an Absolute Joint Movement
     _zoneData           = new ZoneData(precision);
     _robotTool          = new RobotTool();       // Default Robot Tool tool0
     _robotTool.Clear();                          // Empty Robot Tool
 }
 /// <summary>
 /// Method to create an absolute joint movement with internal and external axis values.
 /// </summary>
 /// <param name="name">Name of joint target, must be unique.</param>
 /// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
 /// <param name="externalAxisValues">List of external axis values. </param>
 public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues)
 {
     _name = name;
     _internalAxisValues = CheckInternalAxisValues(internalAxisValues);
     _externalAxisValues = CheckExternalAxisValues(externalAxisValues);
     _speedData          = new SpeedData(5);      // Slowest predefined tcp speed
     _movementType       = MovementType.MoveAbsJ; // The movementType is always an Absolute Joint Movement
     _zoneData           = new ZoneData(0);
     _robotTool          = new RobotTool();       // Default Robot Tool tool0
     _robotTool.Clear();                          // Empty Robot Tool
 }
Пример #4
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 /// <summary>
 /// Protected constructor needed for deserialization of the object.
 /// </summary>
 /// <param name="info"> The SerializationInfo to extract the data from. </param>
 /// <param name="context"> The context of this deserialization. </param>
 protected Movement(SerializationInfo info, StreamingContext context)
 {
     // int version = (int)info.GetValue("Version", typeof(int)); // <-- use this if the (de)serialization changes
     _movementType  = (MovementType)info.GetValue("Movement Type", typeof(MovementType));
     _target        = (ITarget)info.GetValue("Target", typeof(ITarget));
     _id            = (int)info.GetValue("ID", typeof(int));
     _speedData     = (SpeedData)info.GetValue("Speed Data", typeof(SpeedData));
     _zoneData      = (ZoneData)info.GetValue("Zone Data", typeof(ZoneData));
     _robotTool     = (RobotTool)info.GetValue("Robot Tool", typeof(RobotTool));
     _workObject    = (WorkObject)info.GetValue("Work Object", typeof(WorkObject));
     _digitalOutput = (DigitalOutput)info.GetValue("Digital Output", typeof(DigitalOutput));
 }
Пример #5
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 /// <summary>
 /// Initializes a new instance of the Movement class.
 /// This constructor is typically used to cast a Robot Target to a movement.
 /// </summary>
 /// <param name="target"> The Target. </param>
 public Movement(ITarget target)
 {
     _movementType = 0;
     _target       = target;
     _id           = -1;
     _speedData    = new SpeedData(5);     // Slowest predefined tcp speed
     _zoneData     = new ZoneData(0);
     _robotTool    = new RobotTool();      // Default Robot Tool tool0
     _robotTool.Clear();                   // Empty Robot Tool
     _workObject    = new WorkObject();    // Default work object wobj0
     _digitalOutput = new DigitalOutput(); // InValid / empty DO
 }
Пример #6
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 /// <summary>
 /// Initializes a new instance of the Movement class.
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data. </param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
 /// <param name="workObject"> The Work Object. </param>
 /// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool, WorkObject workObject, DigitalOutput digitalOutput)
 {
     _movementType  = movementType;
     _target        = target;
     _id            = -1;
     _speedData     = speedData;
     _zoneData      = zoneData;
     _robotTool     = robotTool;
     _workObject    = workObject;
     _digitalOutput = digitalOutput;
     CheckCombination();
 }
Пример #7
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 /// <summary>
 /// Initializes a new instance of the Movement class with a default Work object (wobj0) and an empty Digital Output.
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data. </param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
 {
     _movementType  = movementType;
     _target        = target;
     _id            = -1;
     _speedData     = speedData;
     _zoneData      = zoneData;
     _robotTool     = robotTool;
     _workObject    = new WorkObject();    // Default work object wobj0
     _digitalOutput = new DigitalOutput(); // InValid / empty DO
     CheckCombination();
 }
Пример #8
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 /// <summary>
 /// Initializes a new instance of the Movement class with an empty Robot Tool (no override) and a default Work Object (wobj0)
 /// </summary>
 /// <param name="movementType"> The Movement Type. </param>
 /// <param name="target"> The Target. </param>
 /// <param name="speedData"> The Speed Data.</param>
 /// <param name="zoneData"> The Zone Data. </param>
 /// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
 public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, DigitalOutput digitalOutput)
 {
     _movementType = movementType;
     _target       = target;
     _id           = -1;
     _speedData    = speedData;
     _zoneData     = zoneData;
     _robotTool    = new RobotTool();   // Default Robot Tool tool0
     _robotTool.Clear();                // Empty Robot Tool
     _workObject    = new WorkObject(); // Default work object wobj0
     _digitalOutput = digitalOutput;
     CheckCombination();
 }
Пример #9
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 /// <summary>
 /// Initializes a new instance of the Zone Data class by duplicating an existing Zone Data instance.
 /// </summary>
 /// <param name="zonedata"> The Zone Data instance to duplicate. </param>
 public ZoneData(ZoneData zonedata)
 {
     _referenceType        = zonedata.ReferenceType;
     _name                 = zonedata.Name;
     _finep                = zonedata.FinePoint;
     _pzone_tcp            = zonedata.PathZoneTCP;
     _pzone_ori            = zonedata.PathZoneOrientation;
     _pzone_eax            = zonedata.PathZoneExternalAxes;
     _zone_ori             = zonedata.ZoneOrientation;
     _zone_leax            = zonedata.ZoneExternalLinearAxes;
     _zone_reax            = zonedata.ZoneExternalRotationalAxes;
     _predefined           = zonedata.PreDefinied;
     _exactPredefinedValue = zonedata.ExactPredefinedValue;
 }
        /// <summary>
        /// Creates a new absolute joint movement by duplicating an existing absolute joint movement.
        /// This creates a deep copy of the existing absolute joint movement.
        /// </summary>
        /// <param name="jointMovement"> The absolute joint movement that should be duplicated. </param>
        /// <param name="duplicateMesh"> A boolean that indicates if the meshes should be duplicated. </param>
        public AbsoluteJointMovement(AbsoluteJointMovement jointMovement, bool duplicateMesh = true)
        {
            _name = jointMovement.Name;
            _internalAxisValues = new List <double>(jointMovement.InternalAxisValues);
            _externalAxisValues = new List <double>(jointMovement.ExternalAxisValues);
            _speedData          = jointMovement.SpeedData.Duplicate();
            _movementType       = jointMovement.MovementType;
            _zoneData           = jointMovement.ZoneData.Duplicate();

            if (duplicateMesh == true)
            {
                _robotTool = jointMovement.RobotTool.Duplicate();
            }
            else
            {
                _robotTool = jointMovement.RobotTool.DuplicateWithoutMesh();
            }
        }
Пример #11
0
        /// <summary>
        /// Initializes a new instance of the Movement class by duplicating an existing Movement instance.
        /// </summary>
        /// <param name="movement"> The Movement instance to duplicate. </param>
        /// <param name="duplicateMesh"> Specifies whether the meshes should be duplicated. </param>
        public Movement(Movement movement, bool duplicateMesh = true)
        {
            _movementType  = movement.MovementType;
            _target        = movement.Target.DuplicateTarget();
            _id            = movement.SyncID;
            _speedData     = movement.SpeedData.Duplicate();
            _zoneData      = movement.ZoneData.Duplicate();
            _digitalOutput = movement.DigitalOutput.Duplicate();

            if (duplicateMesh == true)
            {
                _robotTool  = movement.RobotTool.Duplicate();
                _workObject = movement.WorkObject.Duplicate();
            }
            else
            {
                _robotTool  = movement.RobotTool.DuplicateWithoutMesh();
                _workObject = movement.WorkObject.DuplicateWithoutMesh();
            }
        }