internal RobotCellUR(string name, RobotArm robot, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.UR, io, basePlane, environment)
{
this.Robot = robot as RobotUR;
this.DisplayMesh = new Mesh();
DisplayMesh.Append(robot.DisplayMesh);
this.DisplayMesh.Transform(this.BasePlane.ToTransform());
}
internal RobotCellUR(string name, RobotArm robot, IO io, Plane basePlane, Mesh environment) : base(name, Manufacturers.UR, io, basePlane, environment)
{
this.Robot = robot as RobotUR;
this.DisplayMesh = new Mesh();
DisplayMesh.Append(robot.DisplayMesh);
this.DisplayMesh.Transform(this.BasePlane.ToTransform());
}
static List <Mesh> PoseMeshesRobot(RobotArm arm, IList <Plane> planes, Mesh tool)
{
planes = planes.ToList();
var count = planes.Count - 1;
planes.RemoveAt(count);
planes.Add(planes[count - 1]);
var defaultPlanes = arm.Joints.Select(m => m.Plane).Prepend(arm.BasePlane).Append(Plane.WorldXY).ToList();
var defaultMeshes = arm.Joints.Select(m => m.Mesh).Prepend(arm.BaseMesh).Append(tool);
var outMeshes = defaultMeshes.Select(m => m.DuplicateMesh()).ToList();
for (int i = 0; i < defaultPlanes.Count; i++)
{
var s = Transform.PlaneToPlane(defaultPlanes[i], planes[i]);
outMeshes[i].Transform(s);
}
return(outMeshes);
}
public OffsetWristKinematics(RobotArm robot, Target target, double[] prevJoints, bool displayMeshes, Plane? basePlane) : base(robot, target, prevJoints, displayMeshes, basePlane) { }
protected RobotKinematics(RobotArm robot, Target target, double[] prevJoints = null, bool displayMeshes = false, Plane? basePlane = null) : base(robot, target, prevJoints, displayMeshes, basePlane) { }
public OffsetWristKinematics(RobotArm robot, Target target, double[] prevJoints, bool displayMeshes, Plane?basePlane) : base(robot, target, prevJoints, displayMeshes, basePlane)
{
}
protected RobotKinematics(RobotArm robot, Target target, double[] prevJoints = null, bool displayMeshes = false, Plane?basePlane = null) : base(robot, target, prevJoints, displayMeshes, basePlane)
{
}
protected RobotKinematics(RobotArm robot, Target target, double[] prevJoints = null, Plane?basePlane = null) : base(robot, target, prevJoints, basePlane)
{
}
// static double[] StartPosition = new double[] { 0, PI / 2, 0, 0, 0, -PI };
public SphericalWristKinematics(RobotArm robot, Target target, double[] prevJoints, Plane?basePlane) : base(robot, target, prevJoints, basePlane)
{
}