/// <summary>
/// Initializes a new instance of the Joint Target class.
/// </summary>
/// <param name="name"> The target name, must be unique.</param>
/// <param name="robotJointPosition"> The Robot Joint Position</param>
/// <param name="externalJointPosition"> The External Joint Position</param>
public JointTarget(string name, RobotJointPosition robotJointPosition, ExternalJointPosition externalJointPosition)
{
_referenceType = ReferenceType.VAR;
_name = name;
_robotJointPosition = robotJointPosition;
_externalJointPosition = externalJointPosition;
}
/// <summary>
/// Initializes a new instance of the Joint Target class by duplicating an existing Joint Target instance.
/// </summary>
/// <param name="jointTarget"> The Joint Target instance to duplicate. </param>
public JointTarget(JointTarget jointTarget)
{
_referenceType = jointTarget.ReferenceType;
_name = jointTarget.Name;
_robotJointPosition = jointTarget.RobotJointPosition.Duplicate();
_externalJointPosition = jointTarget.ExternalJointPosition.Duplicate();
}
/// <summary>
/// Multiplies the values inside this Joint Position with the values from another Robot Joint Position.
/// Value 1 * value 1, value 2 * value 2, value 3 * value 3 etc.
/// </summary>
/// <param name="jointPosition"> The multiplier as a Robot Joint Position. </param>
public void Multiply(RobotJointPosition jointPosition)
{
for (int i = 0; i < 6; i++)
{
this[i] *= jointPosition[i];
}
}
/// <summary>
/// Substracts the values of an Robot Joint Position from the values inside this Joint Position.
/// Value 1 - value 1, value 2 - value 2, value 3 - value 3 etc.
/// </summary>
/// <param name="jointPosition"> The Robot Joint Position to be substracted. </param>
public void Substract(RobotJointPosition jointPosition)
{
for (int i = 0; i < 6; i++)
{
this[i] -= jointPosition[i];
}
}
/// <summary>
/// Adds the values of an Robot Joint Position to the values inside this Joint Position.
/// Value 1 + value 1, value 2 + value 2, value 3 + value 3 etc.
/// </summary>
/// <param name="jointPosition"> The Robot Joint Position to be added. </param>
public void Add(RobotJointPosition jointPosition)
{
for (int i = 0; i < 6; i++)
{
this[i] += jointPosition[i];
}
}
private ExternalJointPosition _externalJointPosition; // the position of the external logical axes
#endregion
#region (de)serialization
/// <summary>
/// Protected constructor needed for deserialization of the object.
/// </summary>
/// <param name="info"> The SerializationInfo to extract the data from. </param>
/// <param name="context"> The context of this deserialization. </param>
protected JointTarget(SerializationInfo info, StreamingContext context)
{
// int version = (int)info.GetValue("Version", typeof(int)); // <-- use this if the (de)serialization changes
_referenceType = (ReferenceType)info.GetValue("Reference Type", typeof(ReferenceType));
_name = (string)info.GetValue("Name", typeof(string));
_robotJointPosition = (RobotJointPosition)info.GetValue("Robot Joint Position", typeof(RobotJointPosition));
_externalJointPosition = (ExternalJointPosition)info.GetValue("External Joint Position", typeof(ExternalJointPosition));
}
/// <summary>
/// Creates declarations in the RAPID program module inside the RAPID Generator.
/// This method is called inside the RAPID generator.
/// </summary>
/// <param name="RAPIDGenerator"> The RAPID Generator. </param>
public override void ToRAPIDDeclaration(RAPIDGenerator RAPIDGenerator)
{
// Generate the code for the zone and speeddata
_speedData.ToRAPIDDeclaration(RAPIDGenerator);
_zoneData.ToRAPIDDeclaration(RAPIDGenerator);
// Generate code from robot targets
if (_target is RobotTarget robotTarget)
{
// Update the movement of the inverse kinematics
RAPIDGenerator.Robot.InverseKinematics.Movement = this;
// Generates the robot target variable for a MoveL or MoveJ instruction
if (_movementType == MovementType.MoveL || _movementType == MovementType.MoveJ)
{
RAPIDGenerator.Robot.InverseKinematics.CalculateExternalJointPosition();
robotTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
// Generates the joint target variable from a robot target for a MoveAbsJ instruction
else
{
if (!RAPIDGenerator.Targets.ContainsKey(robotTarget.Name + "_jt"))
{
// Calculate the axis values from the robot target
RAPIDGenerator.Robot.InverseKinematics.Calculate();
RAPIDGenerator.ErrorText.AddRange(new List <string>(RAPIDGenerator.Robot.InverseKinematics.ErrorText));
// Create a joint target from the axis values
RobotJointPosition robJointPosition = RAPIDGenerator.Robot.InverseKinematics.RobotJointPosition.Duplicate();
ExternalJointPosition extJointPosition = RAPIDGenerator.Robot.InverseKinematics.ExternalJointPosition.Duplicate();
JointTarget jointTarget = new JointTarget(robotTarget.Name + "_jt", robJointPosition, extJointPosition);
jointTarget.ReferenceType = _target.ReferenceType;
// Create the RAPID code
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
}
}
}
// Generate code from joint targets
else if (_target is JointTarget jointTarget)
{
// JointTarget with MoveAbsJ
if (_movementType == MovementType.MoveAbsJ)
{
jointTarget.ToRAPIDDeclaration(RAPIDGenerator);
RAPIDGenerator.ErrorText.AddRange(jointTarget.CheckAxisLimits(RAPIDGenerator.Robot));
}
// Joint Target combined with MoveL or MoveJ
else
{
throw new InvalidOperationException("Invalid Move instruction: A Joint Target cannot be combined with a MoveL or MoveJ instruction.");
}
}
}
/// <summary>
/// Initializes a new instance of the Robot Joint Position class by duplicating an existing Robot Joint Position instance.
/// </summary>
/// <param name="robotJointPosition"> The Robot Joint Position instance to duplicate. </param>
public RobotJointPosition(RobotJointPosition robotJointPosition)
{
_val1 = robotJointPosition[0];
_val2 = robotJointPosition[1];
_val3 = robotJointPosition[2];
_val4 = robotJointPosition[3];
_val5 = robotJointPosition[4];
_val6 = robotJointPosition[5];
}
/// <summary>
/// Divides the values inside this Joint Position with the values from another Robot Joint Position.
/// Value 1 / value 1, value 2 / value 2, value 3 / value 3 etc.
/// </summary>
/// <param name="jointPosition"> The divider as an Robot Joint Position. </param>
public void Divide(RobotJointPosition jointPosition)
{
for (int i = 0; i < 6; i++)
{
if (jointPosition[i] == 0)
{
new DivideByZeroException();
}
this[i] /= jointPosition[i];
}
}
