/// <summary>
/// Method to create an absolute joint movement.
/// </summary>
/// <param name="name">Name of joint target, must be unique.</param>
/// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
/// <param name="externalAxisValues">List of external axis values. The length of the list should be (for now) equal to 1.</param>
/// <param name="speedData"> The SpeedData as a SpeedData </param>
/// <param name="zoneData"> The ZoneData as a ZoneData </param>
/// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
{
_name = name;
_internalAxisValues = CheckInternalAxisValues(internalAxisValues);
_externalAxisValues = CheckExternalAxisValues(externalAxisValues);
_speedData = speedData;
_movementType = MovementType.MoveAbsJ; // The movement type is always an Absolute Joint Movement
_zoneData = zoneData;
_robotTool = robotTool;
}
/// <summary>
/// Method to create a absolute joint movement with an empty robot tool (no override).
/// </summary>
/// <param name="name">Name of joint target, must be unique.</param>
/// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
/// <param name="externalAxisValues">List of external axis values. </param>
/// <param name="speedData"> The SpeedData as a SpeedData </param>
/// <param name="precision"> Robot movement precision. This value will be casted to the nearest predefined zonedata value. Use -1 for fine. </param>
public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues, SpeedData speedData, int precision)
{
_name = name;
_internalAxisValues = CheckInternalAxisValues(internalAxisValues);
_externalAxisValues = CheckExternalAxisValues(externalAxisValues);
_speedData = speedData;
_movementType = MovementType.MoveAbsJ; // The movement type is always an Absolute Joint Movement
_zoneData = new ZoneData(precision);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
}
/// <summary>
/// Method to create an absolute joint movement with internal and external axis values.
/// </summary>
/// <param name="name">Name of joint target, must be unique.</param>
/// <param name="internalAxisValues">List of internal axis values. The length of the list should be equal to 6.</param>
/// <param name="externalAxisValues">List of external axis values. </param>
public AbsoluteJointMovement(string name, List <double> internalAxisValues, List <double> externalAxisValues)
{
_name = name;
_internalAxisValues = CheckInternalAxisValues(internalAxisValues);
_externalAxisValues = CheckExternalAxisValues(externalAxisValues);
_speedData = new SpeedData(5); // Slowest predefined tcp speed
_movementType = MovementType.MoveAbsJ; // The movementType is always an Absolute Joint Movement
_zoneData = new ZoneData(0);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
}
/// <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 Movement(SerializationInfo info, StreamingContext context)
{
// int version = (int)info.GetValue("Version", typeof(int)); // <-- use this if the (de)serialization changes
_movementType = (MovementType)info.GetValue("Movement Type", typeof(MovementType));
_target = (ITarget)info.GetValue("Target", typeof(ITarget));
_id = (int)info.GetValue("ID", typeof(int));
_speedData = (SpeedData)info.GetValue("Speed Data", typeof(SpeedData));
_zoneData = (ZoneData)info.GetValue("Zone Data", typeof(ZoneData));
_robotTool = (RobotTool)info.GetValue("Robot Tool", typeof(RobotTool));
_workObject = (WorkObject)info.GetValue("Work Object", typeof(WorkObject));
_digitalOutput = (DigitalOutput)info.GetValue("Digital Output", typeof(DigitalOutput));
}
/// <summary>
/// Initializes a new instance of the Movement class.
/// This constructor is typically used to cast a Robot Target to a movement.
/// </summary>
/// <param name="target"> The Target. </param>
public Movement(ITarget target)
{
_movementType = 0;
_target = target;
_id = -1;
_speedData = new SpeedData(5); // Slowest predefined tcp speed
_zoneData = new ZoneData(0);
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = new DigitalOutput(); // InValid / empty DO
}
/// <summary>
/// Initializes a new instance of the Movement class.
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data. </param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
/// <param name="workObject"> The Work Object. </param>
/// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool, WorkObject workObject, DigitalOutput digitalOutput)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = robotTool;
_workObject = workObject;
_digitalOutput = digitalOutput;
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Movement class with a default Work object (wobj0) and an empty Digital Output.
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data. </param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="robotTool"> The Robot Tool. This will override the set default tool. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, RobotTool robotTool)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = robotTool;
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = new DigitalOutput(); // InValid / empty DO
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Movement class with an empty Robot Tool (no override) and a default Work Object (wobj0)
/// </summary>
/// <param name="movementType"> The Movement Type. </param>
/// <param name="target"> The Target. </param>
/// <param name="speedData"> The Speed Data.</param>
/// <param name="zoneData"> The Zone Data. </param>
/// <param name="digitalOutput"> The Digital Output. When set this will define a MoveLDO or a MoveJDO instruction. </param>
public Movement(MovementType movementType, ITarget target, SpeedData speedData, ZoneData zoneData, DigitalOutput digitalOutput)
{
_movementType = movementType;
_target = target;
_id = -1;
_speedData = speedData;
_zoneData = zoneData;
_robotTool = new RobotTool(); // Default Robot Tool tool0
_robotTool.Clear(); // Empty Robot Tool
_workObject = new WorkObject(); // Default work object wobj0
_digitalOutput = digitalOutput;
CheckCombination();
}
/// <summary>
/// Initializes a new instance of the Zone Data class by duplicating an existing Zone Data instance.
/// </summary>
/// <param name="zonedata"> The Zone Data instance to duplicate. </param>
public ZoneData(ZoneData zonedata)
{
_referenceType = zonedata.ReferenceType;
_name = zonedata.Name;
_finep = zonedata.FinePoint;
_pzone_tcp = zonedata.PathZoneTCP;
_pzone_ori = zonedata.PathZoneOrientation;
_pzone_eax = zonedata.PathZoneExternalAxes;
_zone_ori = zonedata.ZoneOrientation;
_zone_leax = zonedata.ZoneExternalLinearAxes;
_zone_reax = zonedata.ZoneExternalRotationalAxes;
_predefined = zonedata.PreDefinied;
_exactPredefinedValue = zonedata.ExactPredefinedValue;
}
/// <summary>
/// Creates a new absolute joint movement by duplicating an existing absolute joint movement.
/// This creates a deep copy of the existing absolute joint movement.
/// </summary>
/// <param name="jointMovement"> The absolute joint movement that should be duplicated. </param>
/// <param name="duplicateMesh"> A boolean that indicates if the meshes should be duplicated. </param>
public AbsoluteJointMovement(AbsoluteJointMovement jointMovement, bool duplicateMesh = true)
{
_name = jointMovement.Name;
_internalAxisValues = new List <double>(jointMovement.InternalAxisValues);
_externalAxisValues = new List <double>(jointMovement.ExternalAxisValues);
_speedData = jointMovement.SpeedData.Duplicate();
_movementType = jointMovement.MovementType;
_zoneData = jointMovement.ZoneData.Duplicate();
if (duplicateMesh == true)
{
_robotTool = jointMovement.RobotTool.Duplicate();
}
else
{
_robotTool = jointMovement.RobotTool.DuplicateWithoutMesh();
}
}
/// <summary>
/// Initializes a new instance of the Movement class by duplicating an existing Movement instance.
/// </summary>
/// <param name="movement"> The Movement instance to duplicate. </param>
/// <param name="duplicateMesh"> Specifies whether the meshes should be duplicated. </param>
public Movement(Movement movement, bool duplicateMesh = true)
{
_movementType = movement.MovementType;
_target = movement.Target.DuplicateTarget();
_id = movement.SyncID;
_speedData = movement.SpeedData.Duplicate();
_zoneData = movement.ZoneData.Duplicate();
_digitalOutput = movement.DigitalOutput.Duplicate();
if (duplicateMesh == true)
{
_robotTool = movement.RobotTool.Duplicate();
_workObject = movement.WorkObject.Duplicate();
}
else
{
_robotTool = movement.RobotTool.DuplicateWithoutMesh();
_workObject = movement.WorkObject.DuplicateWithoutMesh();
}
}
