/// <summary>
/// This method displays the robot pose for the given axis values.
/// </summary>
/// <param name="args"> Preview display arguments for IGH_PreviewObjects. </param>
public override void DrawViewportMeshes(IGH_PreviewArgs args)
{
// Check if there is a mesh available to display and the onlyTCP function not active
if (!_hideMesh)
{
// Initiate the display color and transparancy of the robot mesh
Color color;
double trans;
// Calculate forward kinematics
_forwardKinematics.HideMesh = _hideMesh;
_forwardKinematics.Calculate(_inverseKinematics.RobotJointPosition, _inverseKinematics.ExternalJointPosition);
// Set the display color and transparancy of the robot mesh
if (_forwardKinematics.InLimits == true)
{
color = Color.FromArgb(225, 225, 225);
trans = 0.0;
}
else
{
color = Color.FromArgb(150, 0, 0);
trans = 0.5;
}
// Display the internal axes of the robot
for (int i = 0; i != _forwardKinematics.PosedInternalAxisMeshes.Count; i++)
{
args.Display.DrawMeshShaded(_forwardKinematics.PosedInternalAxisMeshes[i], new Rhino.Display.DisplayMaterial(color, trans));
}
// Display the external axes
for (int i = 0; i != _forwardKinematics.PosedExternalAxisMeshes.Count; i++)
{
for (int j = 0; j != _forwardKinematics.PosedExternalAxisMeshes[i].Count; j++)
{
args.Display.DrawMeshShaded(_forwardKinematics.PosedExternalAxisMeshes[i][j], new Rhino.Display.DisplayMaterial(color, trans));
}
}
}
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Warning that this component is OBSOLETE
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "This component is OBSOLETE and will be removed " +
"in the future. Remove this component from your canvas and replace it by picking the new component " +
"from the ribbon.");
// Input variables
List <RobotComponents.Actions.Action> actions = new List <RobotComponents.Actions.Action>();
int interpolations = 0;
double interpolationSlider = 0;
bool update = false;
// Catch the input data
if (!DA.GetData(0, ref _robot))
{
return;
}
if (!DA.GetDataList(1, actions))
{
return;
}
if (!DA.GetData(2, ref interpolations))
{
return;
}
if (!DA.GetData(3, ref interpolationSlider))
{
return;
}
if (!DA.GetData(4, ref update))
{
return;
}
// Update the path
if (update == true || _lastInterpolations != interpolations)
{
// Create forward kinematics for mesh display
_forwardKinematics = new ForwardKinematics(_robot);
// Create the path generator
_pathGenerator = new PathGenerator(_robot);
// Re-calculate the path
_pathGenerator.Calculate(actions, interpolations);
// Get all the targets
_planes.Clear();
_planes = _pathGenerator.Planes;
// Get the new path curve
_paths.Clear();
_paths = _pathGenerator.Paths;
// Clear the lists with the internal and external axis values
_robotJointPositions.Clear();
_externalJointPositions.Clear();
_robotJointPositions = _pathGenerator.RobotJointPositions;
_externalJointPositions = _pathGenerator.ExternalJointPositions;
// Store the number of interpolations that are used, to check if this value is changed.
_lastInterpolations = interpolations;
// Raise warnings
if (_pathGenerator.ErrorText.Count != 0)
{
_raiseWarnings = true;
}
else
{
_raiseWarnings = false;
}
}
// Get the index number of the current target
int index = (int)(((_planes.Count - 1) * interpolationSlider));
// Create list with external axis values
List <double> externalAxisValues = _externalJointPositions[index].ToList();
externalAxisValues.RemoveAll(val => val == 9e9);
// Calcualte foward kinematics
_forwardKinematics.RobotJointPosition = _robotJointPositions[index];
_forwardKinematics.ExternalJointPosition = _externalJointPositions[index];
_forwardKinematics.HideMesh = !_previewMesh;
_forwardKinematics.Calculate();
// Show error messages
if (_raiseWarnings == true)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Only axis values of absolute joint movements are checked.");
for (int i = 0; i < _pathGenerator.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _pathGenerator.ErrorText[i]);
if (i == 30)
{
break;
}
}
}
// Output
DA.SetData(0, _forwardKinematics.TCPPlane);
DA.SetDataList(1, _forwardKinematics.PosedExternalAxisPlanes);
DA.SetDataList(2, _forwardKinematics.RobotJointPosition.ToList());
DA.SetDataList(3, externalAxisValues);
if (_previewCurve == true)
{
DA.SetDataList(4, _paths);
}
else
{
DA.SetDataList(4, null);
}
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
List <RobotComponents.Actions.Action> actions = new List <RobotComponents.Actions.Action>();
int interpolations = 0;
double interpolationSlider = 0;
bool update = false;
// Catch the input data
if (!DA.GetData(0, ref _robot))
{
return;
}
if (!DA.GetDataList(1, actions))
{
return;
}
if (!DA.GetData(2, ref interpolations))
{
return;
}
if (!DA.GetData(3, ref interpolationSlider))
{
return;
}
if (!DA.GetData(4, ref update))
{
return;
}
// Update the path
if (update == true | _calculated == false)
{
// Create forward kinematics for mesh display
_forwardKinematics = new ForwardKinematics(_robot);
// Create the path generator
_pathGenerator = new PathGenerator(_robot);
// Re-calculate the path
_pathGenerator.Calculate(actions, interpolations);
// Makes sure that there is always a calculated solution
_calculated = true;
}
// Get the index number of the current target
int index = (int)(((_pathGenerator.Planes.Count - 1) * interpolationSlider));
// Calculate foward kinematics
_forwardKinematics.HideMesh = !_previewMesh;
_forwardKinematics.Calculate(_pathGenerator.RobotJointPositions[index], _pathGenerator.ExternalJointPositions[index]);
// Show error messages
if (_pathGenerator.ErrorText.Count != 0)
{
for (int i = 0; i < _pathGenerator.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _pathGenerator.ErrorText[i]);
if (i == 30)
{
break;
}
}
}
// Output Parameters
int ind;
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[0].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[0].NickName));
DA.SetData(ind, _pathGenerator.Planes[index]);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[1].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[1].NickName));
DA.SetDataList(ind, _pathGenerator.Planes);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[2].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[2].NickName));
DA.SetData(ind, _pathGenerator.RobotJointPositions[index]);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[3].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[3].NickName));
DA.SetDataList(ind, _pathGenerator.RobotJointPositions);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[4].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[4].NickName));
DA.SetDataList(ind, _forwardKinematics.PosedExternalAxisPlanes);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[5].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[5].NickName));
DA.SetData(ind, _pathGenerator.ExternalJointPositions[index]);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[6].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[6].NickName));
DA.SetDataList(ind, _pathGenerator.ExternalJointPositions);
}
if (Params.Output.Any(x => x.NickName.Equality(outputParameters[7].NickName)))
{
ind = Params.Output.FindIndex(x => x.NickName.Equality(outputParameters[7].NickName));
DA.SetDataList(ind, _pathGenerator.ErrorText);
}
DA.SetDataList(outputParameters[8].Name, _pathGenerator.Paths);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object can be used to retrieve data from input parameters and
/// to store data in output parameters.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// Input variables
List <RobotComponents.Actions.Action> actions = new List <RobotComponents.Actions.Action>();
int interpolations = 0;
double interpolationSlider = 0;
bool update = false;
// Catch the input data
if (!DA.GetData(0, ref _robot))
{
return;
}
if (!DA.GetDataList(1, actions))
{
return;
}
if (!DA.GetData(2, ref interpolations))
{
return;
}
if (!DA.GetData(3, ref interpolationSlider))
{
return;
}
if (!DA.GetData(4, ref update))
{
return;
}
// Update the path
if (update == true || _lastInterpolations != interpolations)
{
// Create forward kinematics for mesh display
_forwardKinematics = new ForwardKinematics(_robot);
// Create the path generator
_pathGenerator = new PathGenerator(_robot);
// Re-calculate the path
_pathGenerator.Calculate(actions, interpolations);
// Get all the targets
_planes.Clear();
_planes = _pathGenerator.Planes;
// Get the new path curve
_paths.Clear();
_paths = _pathGenerator.Paths;
// Clear the lists
_robotJointPositions.Clear();
_externalJointPositions.Clear();
// Get new lists
_robotJointPositions = _pathGenerator.RobotJointPositions;
_externalJointPositions = _pathGenerator.ExternalJointPositions;
// Store the number of interpolations that are used, to check if this value is changed.
_lastInterpolations = interpolations;
}
// Get the index number of the current target
int index = (int)(((_planes.Count - 1) * interpolationSlider));
// Calculate foward kinematics
_forwardKinematics.HideMesh = !_previewMesh;
_forwardKinematics.Calculate(_robotJointPositions[index], _externalJointPositions[index]);
// Show error messages
if (_pathGenerator.ErrorText.Count != 0)
{
for (int i = 0; i < _pathGenerator.ErrorText.Count; i++)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, _pathGenerator.ErrorText[i]);
if (i == 30)
{
break;
}
}
}
// Output
DA.SetData(0, _forwardKinematics.TCPPlane);
DA.SetDataList(1, _forwardKinematics.PosedExternalAxisPlanes);
DA.SetData(2, _forwardKinematics.RobotJointPosition);
DA.SetData(3, _forwardKinematics.ExternalJointPosition);
if (_previewCurve == true)
{
DA.SetDataList(4, _paths);
}
else
{
DA.SetDataList(4, null);
}
}
