public static IJointTrajectory PlanMoveJoints(
[InputPin(PropertyMode = PropertyMode.Allow)] IJointPath path,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanMoveJoints(path, parameters));
}
public static IJointPath PlanCollisionFreeJointPath(
[InputPin(PropertyMode = PropertyMode.Allow)] IJointPath waypoints,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanCollisionFreeJointPath(waypoints, parameters));
}
public static ICartesianPath PlanMoveCartesian(
[InputPin(PropertyMode = PropertyMode.Allow)] ICartesianPath path,
[InputPin(PropertyMode = PropertyMode.Default)] int numSteps,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanMoveCartesian(path, numSteps, parameters));
}
public void Init(PlanParameters planParams)
{
if (planParams != null && planParams.Set)
{
StartPoint = DatabaseService.GetInstance().GetPoint(planParams.StartId);
_startText = StartPoint.Label;
}
}
public void TestWithMaxDeviation()
{
var builder = new PlanParameters.Builder();
var parameters = new PlanParameters(builder);
Assert.Equal(5, parameters.WithMaxDeviation(5).MaxDeviation);
Assert.Equal(-3, parameters.WithMaxDeviation(-3).MaxDeviation);
}
public void TestWithSampleResolution()
{
var builder = new PlanParameters.Builder();
var parameters = new PlanParameters(builder);
Assert.Equal(5, parameters.WithSampleResolution(5).SampleResolution);
Assert.Equal(-3, parameters.WithSampleResolution(-3).SampleResolution);
}
public static IJointPath PlanCollisionFreeJointPathSegment(
[InputPin(PropertyMode = PropertyMode.Allow)] JointValues start,
[InputPin(PropertyMode = PropertyMode.Allow)] JointValues goal,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanCollisionFreeJointPath(start, goal, parameters));
}
/// <summary>
/// Creates a <c>MoveGroup</c> for manually specified joint set. Since the mapping between ROS move-groups
/// and the specified joint set is not know nor analysed it is not possible to execute end-effector
/// related functions (e.g. inverse kinematics).
/// </summary>
/// <param name="motionService">An object implementing <c>IMotionService</c> which is used to communicate with the motion server.</param>
/// <param name="jointSet">A joint set</param>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="motionService"/> is null.</exception>
public MoveGroup(IMotionService motionService, JointSet jointSet)
{
this.motionService = motionService ?? throw new ArgumentNullException(nameof(motionService));
this.jointSet = jointSet;
this.defaultPlanParameters = motionService.CreatePlanParameters(null, this.jointSet, null, null, 0.05, false, 1);
this.velocityScaling = 1;
this.name = this.defaultPlanParameters.MoveGroupName;
}
public void TestWithCollision()
{
var builder = new PlanParameters.Builder();
var parameters = new PlanParameters(builder);
Assert.True(parameters.WithCollisionCheck(true).CollisionCheck);
Assert.False(parameters.WithCollisionCheck(false).CollisionCheck);
}
public static IJointPath PlanCartesianPath(
[InputPin(PropertyMode = PropertyMode.Allow)] ICartesianPath waypoints,
[InputPin(PropertyMode = PropertyMode.Default)] int numSteps,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanCartesianPath(waypoints, numSteps, parameters));
}
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 MoveJointPathOperation(MoveJointPathArgs args)
{
this.Start = args.Start;
this.Waypoints = args.Waypoints;
this.MoveGroup = args.MoveGroup;
this.VelocityScaling = args.VelocityScaling;
this.AccelerationScaling = args.AccelerationScaling;
this.Parameters = this.MoveGroup.BuildPlanParameters(args.VelocityScaling, args.CollisionCheck, args.MaxDeviation, args.AccelerationScaling, args.SampleResolution);
}
public static IJointPath PlanCartesianPathSegment(
[InputPin(PropertyMode = PropertyMode.Allow)] Pose start,
[InputPin(PropertyMode = PropertyMode.Allow)] Pose goal,
[InputPin(PropertyMode = PropertyMode.Default)] int numSteps,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters
)
{
return(MotionService.PlanCartesianPath(start, goal, numSteps, parameters));
}
public static JointValues InverseKinematic(
[InputPin(PropertyMode = PropertyMode.Allow)] Pose pose,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters,
[InputPin(PropertyMode = PropertyMode.Allow)] JointValues jointPositionSeed = null,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorLink = "",
[InputPin(PropertyMode = PropertyMode.Default)] TimeSpan?timeout = null,
[InputPin(PropertyMode = PropertyMode.Default)] int attempts = 1
)
{
return(MotionService.InverseKinematic(pose, parameters, jointPositionSeed, endEffectorLink, timeout, attempts));
}
public static IKResult InverseKinematicMany(
[InputPin(PropertyMode = PropertyMode.Allow)] IEnumerable <Pose> points,
[InputPin(PropertyMode = PropertyMode.Allow)] PlanParameters parameters,
[InputPin(PropertyMode = PropertyMode.Allow)] JointValues jointPositionSeed = null,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorLink = "",
[InputPin(PropertyMode = PropertyMode.Default)] TimeSpan?timeout = null,
[InputPin(PropertyMode = PropertyMode.Default)] int attempts = 1,
[InputPin(PropertyMode = PropertyMode.Default)] bool constSeed = false
)
{
return(MotionService.InverseKinematicMany(points, parameters, jointPositionSeed, endEffectorLink, timeout, attempts, constSeed));
}
/// <summary>
/// Create a instance of <c>MoveGroup</c>
/// </summary>
/// <param name="motionService">An object implementing <c>IMotionService</c> which is used to communicate with the motion server.</param>
/// <param name="moveGroupName">The name of the move group represented by this instance</param>
/// <param name="defaultEndEffectorName">Name of the default end effector</param>
/// <exception cref="Exception">Thrown when current name does not exist. </exception>
/// <exception cref="ArgumentNullException">Thrown when <paramref name="motionService"/> is null.</exception>
public MoveGroup(IMotionService motionService, string moveGroupName = null, string defaultEndEffectorName = null)
{
this.motionService = motionService ?? throw new ArgumentNullException(nameof(motionService));
var groups = motionService.QueryAvailableMoveGroups();
var groupDetails = groups.ToDictionary(x => x.Name, x => x);
this.name = moveGroupName ?? groups.First().Name;
if (!groupDetails.TryGetValue(this.name, out this.details))
{
throw new Exception($"Move group with name '{this.name}' not found.");
}
this.jointSet = this.details.JointSet;
this.defaultPlanParameters = motionService.CreatePlanParameters(this.name, this.jointSet, null, null, 0.05, false, 1);
this.velocityScaling = 1;
this.SetDefaultEndEffector(defaultEndEffectorName, groups);
}
public static PyObject ToPython(this PlanParameters obj)
{
var nullObject = new object();
nullObject = null;
var none = nullObject.ToPython();
var moveGroupName = PyConvert.ToPyObject(obj.MoveGroupName);
var jointSet = PyConvert.ToPyObject(obj.JointSet);
var maxVelocity = PyConvert.ToPyObject(obj.MaxVelocity);
var maxAcceleration = PyConvert.ToPyObject(obj.MaxAcceleration);
var sampleResolution = PyConvert.ToPyObject(obj.SampleResolution);
var collisionCheck = PyConvert.ToPyObject(obj.CollisionCheck);
var maxDeviation = PyConvert.ToPyObject(obj.MaxDeviation);
using (Py.GIL())
{
return(pyXamlaMotionTypes.PlanParameters.from_arguments(moveGroupName, jointSet, maxVelocity, maxAcceleration, none, none,
sample_resolution: sampleResolution, collisionCheck: collisionCheck,
max_devitation: maxDeviation));
}
}
public Plan(IMoveGroup moveGroup, IJointTrajectory trajectory, PlanParameters parameters)
{
this.MoveGroup = moveGroup;
this.Trajectory = trajectory;
this.Parameters = parameters;
}
