/// <summary>
/// Apply Joints Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionAxes action)
{
Joints newJnt;
// @TODO: implement joint limits checks and general safety...
// Modify current Joints
if (action.relative)
{
// If user issued a relative action, make sure there are absolute values to work with.
// (This limitation is due to current lack of FK/IK solvers)
if (axes == null) // could also check for motionType == MotionType.Joints ?
{
logger.Warning($"Cannot apply \"{action}\", must provide absolute Joints values first before applying relative ones...");
return(false);
}
newJnt = Joints.Add(axes, action.joints);
}
else
{
newJnt = new Joints(action.joints);
}
prevAxes = axes;
axes = newJnt;
// Flag the lack of other geometric data
prevPosition = position;
position = null;
prevRotation = rotation;
rotation = null;
if (isExtruding)
{
this.ComputeExtrudedLength();
}
if (_logRelativeActions && action.relative)
{
logger.Verbose("Axes at " + this.axes);
}
return(true);
}
/// <summary>
/// Apply Joints Action.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionAxes action)
{
Joints newJnt;
// @TODO: implement joint limits checks and general safety...
// Modify current Joints
if (action.relative)
{
// If user issued a relative action, make sure there are absolute values to work with.
// (This limitation is due to current lack of FK/IK solvers)
if (joints == null) // could also check for motionType == MotionType.Joints ?
{
Console.WriteLine("Sorry, must provide absolute Joints values first before applying relative ones..." + this);
return(false);
}
newJnt = Joints.Add(joints, action.joints);
}
else
{
newJnt = new Joints(action.joints);
}
prevJoints = joints;
joints = newJnt;
// Flag the lack of other geometric data
prevPosition = position;
position = null;
prevRotation = rotation;
rotation = null;
if (isExtruding)
{
this.ComputeExtrudedLength();
}
return(true);
}