internal void SetTargetKinematics(KinematicSolution kinematics, List <string> errors, List <string> warnings, ProgramTarget prevTarget)
{
this.Kinematics = kinematics;
if (errors.Count == 0 && kinematics.Errors.Count > 0)
{
errors.Add($"Errors in target {this.Index} of robot {this.Group}:");
errors.AddRange(kinematics.Errors);
}
if (warnings != null && prevTarget != null && prevTarget.Kinematics.Configuration != kinematics.Configuration)
{
this.ChangesConfiguration = true;
warnings.Add($"Configuration changed to \"{kinematics.Configuration.ToString()}\" on target {this.Index} of robot {this.Group}");
}
else
{
this.ChangesConfiguration = false;
}
}
internal void SetTargetKinematics(KinematicSolution kinematics, List<string> errors, List<string> warnings, ProgramTarget prevTarget)
{
this.Kinematics = kinematics;
if (errors != null && kinematics.Errors.Count > 0)
{
errors.Add($"Errors in target {this.Index} of robot {this.Group}:");
errors.AddRange(kinematics.Errors);
}
if (warnings != null && prevTarget != null && prevTarget.Kinematics.Configuration != kinematics.Configuration)
{
this.ChangesConfiguration = true;
warnings.Add($"Configuration changed to \"{kinematics.Configuration.ToString()}\" on target {this.Index} of robot {this.Group}");
}
else
this.ChangesConfiguration = false;
}