diff --git a/libraries/AA.xml b/libraries/AA.xml
index 2cf6ee8..28dab95 100644
--- a/libraries/AA.xml
+++ b/libraries/AA.xml
@@ -3,96 +3,96 @@
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\ No newline at end of file
diff --git a/libraries/AAU_UR10.xml b/libraries/AAU_UR10.xml
index 584333a..77ff034 100644
--- a/libraries/AAU_UR10.xml
+++ b/libraries/AAU_UR10.xml
@@ -3,23 +3,23 @@
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\ No newline at end of file
diff --git a/libraries/AarhusSchoolOfArchitecture.xml b/libraries/AarhusSchoolOfArchitecture.xml
index f3963d4..3d1e79b 100644
--- a/libraries/AarhusSchoolOfArchitecture.xml
+++ b/libraries/AarhusSchoolOfArchitecture.xml
@@ -3,43 +3,43 @@
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diff --git a/libraries/Automata.xml b/libraries/Automata.xml
index 3dfaeb0..5c680c1 100644
--- a/libraries/Automata.xml
+++ b/libraries/Automata.xml
@@ -1,23 +1,23 @@
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diff --git a/libraries/Bigli.xml b/libraries/Bigli.xml
index 0f33d99..5cc1232 100644
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+++ b/libraries/Bigli.xml
@@ -1,23 +1,23 @@
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\ No newline at end of file
diff --git a/libraries/CRR.xml b/libraries/CRR.xml
index bf77866..d5978b6 100644
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+++ b/libraries/CRR.xml
@@ -3,91 +3,90 @@
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\ No newline at end of file
diff --git a/libraries/Carnegie.xml b/libraries/Carnegie.xml
index 00903b6..ce7305d 100644
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+++ b/libraries/Carnegie.xml
@@ -3,46 +3,46 @@
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diff --git a/libraries/ETH.xml b/libraries/ETH.xml
index a7efb88..3d79e30 100644
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+++ b/libraries/ETH.xml
@@ -3,29 +3,29 @@
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diff --git a/libraries/IRB6700.xml b/libraries/IRB6700.xml
index db58a4d..f77293b 100644
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+++ b/libraries/IRB6700.xml
@@ -3,21 +3,21 @@
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\ No newline at end of file
diff --git a/libraries/Innsbruck.xml b/libraries/Innsbruck.xml
index 5f8894f..3822992 100644
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+++ b/libraries/Innsbruck.xml
@@ -1,77 +1,76 @@
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diff --git a/libraries/KULeuven.xml b/libraries/KULeuven.xml
index 6a904c5..9d47f1d 100644
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+++ b/libraries/KULeuven.xml
@@ -3,64 +3,64 @@
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diff --git a/libraries/MIT_sim.xml b/libraries/MIT_sim.xml
index f3a0ff6..d9de5ca 100644
--- a/libraries/MIT_sim.xml
+++ b/libraries/MIT_sim.xml
@@ -2,33 +2,33 @@
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diff --git a/libraries/PennState.xml b/libraries/PennState.xml
index 19f963a..da7b860 100644
--- a/libraries/PennState.xml
+++ b/libraries/PennState.xml
@@ -3,22 +3,22 @@
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diff --git a/libraries/Stuttgart.xml b/libraries/Stuttgart.xml
index 6e473a3..79cb1f0 100644
--- a/libraries/Stuttgart.xml
+++ b/libraries/Stuttgart.xml
@@ -1,69 +1,69 @@
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\ No newline at end of file
diff --git a/libraries/Taiwan.xml b/libraries/Taiwan.xml
index e065e30..f269488 100644
--- a/libraries/Taiwan.xml
+++ b/libraries/Taiwan.xml
@@ -3,65 +3,65 @@
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\ No newline at end of file
diff --git a/libraries/TaiwanTech.xml b/libraries/TaiwanTech.xml
index 5ec2b15..3462214 100644
--- a/libraries/TaiwanTech.xml
+++ b/libraries/TaiwanTech.xml
@@ -1,36 +1,66 @@
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diff --git a/libraries/TaiwanTechTools.xml b/libraries/TaiwanTechTools.xml
deleted file mode 100644
index e3ca09c..0000000
--- a/libraries/TaiwanTechTools.xml
+++ /dev/null
@@ -1,33 +0,0 @@
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\ No newline at end of file
diff --git a/libraries/bartlett.xml b/libraries/bartlett.xml
index 4edfef0..b07c072 100644
--- a/libraries/bartlett.xml
+++ b/libraries/bartlett.xml
@@ -3,78 +3,78 @@
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\ No newline at end of file
diff --git a/libraries/cita.xml b/libraries/cita.xml
index 44bca37..23d2e73 100644
--- a/libraries/cita.xml
+++ b/libraries/cita.xml
@@ -2,132 +2,132 @@
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\ No newline at end of file
diff --git a/libraries/grymsdyke.xml b/libraries/grymsdyke.xml
index f830fc9..ec558ed 100644
--- a/libraries/grymsdyke.xml
+++ b/libraries/grymsdyke.xml
@@ -3,43 +3,43 @@
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\ No newline at end of file
diff --git a/libraries/iaac.xml b/libraries/iaac.xml
index 2358f70..832a86e 100644
--- a/libraries/iaac.xml
+++ b/libraries/iaac.xml
@@ -3,63 +3,63 @@
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\ No newline at end of file
diff --git a/libraries/nagami.xml b/libraries/nagami.xml
index 677ef58..79b3174 100644
--- a/libraries/nagami.xml
+++ b/libraries/nagami.xml
@@ -3,120 +3,120 @@
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\ No newline at end of file
diff --git a/libraries/rmit.xml b/libraries/rmit.xml
index 56c5cc3..44ad34b 100644
--- a/libraries/rmit.xml
+++ b/libraries/rmit.xml
@@ -3,22 +3,22 @@
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diff --git a/src/Robots.Grasshopper/Goos/GH_Command.cs b/src/Robots.Grasshopper/Goos/GH_Command.cs
index 873e1fb..4be3f84 100644
--- a/src/Robots.Grasshopper/Goos/GH_Command.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Command.cs
@@ -12,7 +12,6 @@ public class GH_Command : GH_Goo
public override string TypeName => "Command";
public override string TypeDescription => "Command";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Frame.cs b/src/Robots.Grasshopper/Goos/GH_Frame.cs
index 4914f05..4cc0521 100644
--- a/src/Robots.Grasshopper/Goos/GH_Frame.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Frame.cs
@@ -13,7 +13,6 @@ public class GH_Frame : GH_Goo
public override string TypeName => "Frame";
public override string TypeDescription => "Frame";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Program.cs b/src/Robots.Grasshopper/Goos/GH_Program.cs
index 28eef69..439e6e8 100644
--- a/src/Robots.Grasshopper/Goos/GH_Program.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Program.cs
@@ -12,7 +12,6 @@ public GH_Program() { }
public override string TypeName => "Program";
public override string TypeDescription => "Program";
public override string ToString() => Value.ToString();
- public override object? ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_RobotSystem.cs b/src/Robots.Grasshopper/Goos/GH_RobotSystem.cs
index 6ba95e8..6d2ab04 100644
--- a/src/Robots.Grasshopper/Goos/GH_RobotSystem.cs
+++ b/src/Robots.Grasshopper/Goos/GH_RobotSystem.cs
@@ -14,7 +14,6 @@ public GH_RobotSystem() { }
public override string TypeName => "RobotSystem";
public override string TypeDescription => "RobotSystem";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Speed.cs b/src/Robots.Grasshopper/Goos/GH_Speed.cs
index 114c336..5119801 100644
--- a/src/Robots.Grasshopper/Goos/GH_Speed.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Speed.cs
@@ -13,7 +13,6 @@ public class GH_Speed : GH_Goo
public override string TypeName => "Speed";
public override string TypeDescription => "Speed";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Target.cs b/src/Robots.Grasshopper/Goos/GH_Target.cs
index 2a4767e..e4cc169 100644
--- a/src/Robots.Grasshopper/Goos/GH_Target.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Target.cs
@@ -14,7 +14,6 @@ public class GH_Target : GH_Goo
public override string TypeName => "Target";
public override string TypeDescription => "Target";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Tool.cs b/src/Robots.Grasshopper/Goos/GH_Tool.cs
index fd82cb7..d0fec3b 100644
--- a/src/Robots.Grasshopper/Goos/GH_Tool.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Tool.cs
@@ -12,7 +12,6 @@ public class GH_Tool : GH_Goo
public override string TypeName => "Tool";
public override string TypeDescription => "Tool";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
switch (source)
diff --git a/src/Robots.Grasshopper/Goos/GH_Toolpath.cs b/src/Robots.Grasshopper/Goos/GH_Toolpath.cs
index 2526060..7fddf98 100644
--- a/src/Robots.Grasshopper/Goos/GH_Toolpath.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Toolpath.cs
@@ -19,7 +19,6 @@ public override string ToString()
_ => "Toolpath",
};
}
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Goos/GH_Zone.cs b/src/Robots.Grasshopper/Goos/GH_Zone.cs
index 14d7fa4..a6dd217 100644
--- a/src/Robots.Grasshopper/Goos/GH_Zone.cs
+++ b/src/Robots.Grasshopper/Goos/GH_Zone.cs
@@ -13,7 +13,6 @@ public class GH_Zone : GH_Goo
public override string TypeName => "Zone";
public override string TypeDescription => "Zone";
public override string ToString() => Value.ToString();
- public override object ScriptVariable() => Value;
public override bool CastFrom(object source)
{
diff --git a/src/Robots.Grasshopper/Target/CreateFrame.cs b/src/Robots.Grasshopper/Target/CreateFrame.cs
index 2902965..7a537c0 100644
--- a/src/Robots.Grasshopper/Target/CreateFrame.cs
+++ b/src/Robots.Grasshopper/Target/CreateFrame.cs
@@ -38,7 +38,14 @@ protected override void SolveInstance(IGH_DataAccess DA)
if (!DA.GetData(2, ref coupledMechanism)) { return; }
DA.GetData(3, ref name);
- var frame = new Frame(plane.Value, coupledMechanism, coupledGroup, name);
- DA.SetData(0, new GH_Frame(frame));
+ try
+ {
+ var frame = new Frame(plane.Value, coupledMechanism, coupledGroup, name);
+ DA.SetData(0, new GH_Frame(frame));
+ }
+ catch (ArgumentException e)
+ {
+ AddRuntimeMessage(GH_RuntimeMessageLevel.Error, e.Message);
+ }
}
-}
+}
\ No newline at end of file
diff --git a/src/Robots.Grasshopper/Target/CreateSpeed.cs b/src/Robots.Grasshopper/Target/CreateSpeed.cs
index db76ca7..80c51ac 100644
--- a/src/Robots.Grasshopper/Target/CreateSpeed.cs
+++ b/src/Robots.Grasshopper/Target/CreateSpeed.cs
@@ -36,4 +36,4 @@ protected override void SolveInstance(IGH_DataAccess DA)
var speed = new Speed(translationSpeed, rotationSpeed, translationExternal, rotationExternal);
DA.SetData(0, new GH_Speed(speed));
}
-}
+}
\ No newline at end of file
diff --git a/src/Robots.Grasshopper/Target/CreateTool.cs b/src/Robots.Grasshopper/Target/CreateTool.cs
index e0220eb..cfc8981 100644
--- a/src/Robots.Grasshopper/Target/CreateTool.cs
+++ b/src/Robots.Grasshopper/Target/CreateTool.cs
@@ -38,7 +38,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
double weight = 0;
GH_Mesh? mesh = null;
GH_Point? centroid = null;
- var planes = new List();
+ var planes = new List();
if (!DA.GetData(0, ref name) || name is null) { return; }
if (!DA.GetData(1, ref tcp) || tcp is null) { return; }
@@ -47,17 +47,16 @@ protected override void SolveInstance(IGH_DataAccess DA)
DA.GetData(4, ref centroid);
DA.GetData(5, ref mesh);
- var tool = new Tool(tcp.Value, name, weight, centroid?.Value, mesh?.Value);
+ try
+ {
+ var tool = new Tool(tcp.Value, name, weight, centroid?.Value, mesh?.Value, planes);
- if (planes.Count > 0)
+ DA.SetData(0, new GH_Tool(tool));
+ DA.SetData(1, tool.Tcp);
+ }
+ catch (ArgumentException e)
{
- if (planes.Count != 4)
- AddRuntimeMessage(GH_RuntimeMessageLevel.Error, " Calibration input must be 4 planes");
- else
- tool.FourPointCalibration(planes[0].Value, planes[1].Value, planes[2].Value, planes[3].Value);
+ AddRuntimeMessage(GH_RuntimeMessageLevel.Error, e.Message);
}
-
- DA.SetData(0, new GH_Tool(tool));
- DA.SetData(1, tool.Tcp);
}
}
\ No newline at end of file
diff --git a/src/Robots/Commands/Command.cs b/src/Robots/Commands/Command.cs
index 85e5c9f..a78f677 100644
--- a/src/Robots/Commands/Command.cs
+++ b/src/Robots/Commands/Command.cs
@@ -7,6 +7,8 @@ public abstract class Command : TargetAttribute
protected Dictionary> _declarations = new(4);
protected Dictionary> _commands = new(4);
+ protected Command(string? name = null) : base(name) { }
+
protected virtual void ErrorChecking(RobotSystem robotSystem) { }
protected virtual void Populate() { }
public bool RunBefore { get; set; } = false;
diff --git a/src/Robots/Commands/Custom.cs b/src/Robots/Commands/Custom.cs
index 1efb537..1e49929 100644
--- a/src/Robots/Commands/Custom.cs
+++ b/src/Robots/Commands/Custom.cs
@@ -5,9 +5,8 @@ public class Custom : Command
readonly Dictionary _customCommands = new();
readonly Dictionary _customDeclarations = new();
- public Custom(string name = "Custom command", Manufacturers manufacturer = Manufacturers.All, string? command = null, string? declaration = null)
+ public Custom(string name = "CustomCommand", Manufacturers manufacturer = Manufacturers.All, string? command = null, string? declaration = null) : base(name)
{
- Name = name;
AddCommand(manufacturer, command, declaration);
}
diff --git a/src/Robots/Commands/Group.cs b/src/Robots/Commands/Group.cs
index ea8e7c1..da9e4e8 100644
--- a/src/Robots/Commands/Group.cs
+++ b/src/Robots/Commands/Group.cs
@@ -6,13 +6,10 @@ public class Group : Command, IList
{
readonly List _commandList = new();
- public Group()
- {
- }
+ public Group() { }
- public Group(IEnumerable commands)
+ public Group(IEnumerable commands) : base("GroupCommand")
{
- Name = "Group command";
_commandList.AddRange(commands);
}
diff --git a/src/Robots/FileIO.cs b/src/Robots/FileIO.cs
index 6b71341..0c96617 100644
--- a/src/Robots/FileIO.cs
+++ b/src/Robots/FileIO.cs
@@ -1,4 +1,5 @@
-using System.Xml;
+using System.Text.RegularExpressions;
+using System.Xml;
using System.Xml.Linq;
using Rhino.FileIO;
using Rhino.Geometry;
@@ -322,6 +323,38 @@ static Mesh GetToolMesh(string name)
// Extensions
+ public static bool IsValidName(this string name, out string error)
+ {
+ if (name.Length == 0)
+ {
+ error = "name is empty.";
+ return false;
+ }
+
+ var excess = name.Length - 32;
+
+ if (excess > 0)
+ {
+ error = $"name is {excess} character(s) too long.";
+ return false;
+ }
+
+ if (!char.IsLetter(name[0]))
+ {
+ error = "name must start with a letter.";
+ return false;
+ }
+
+ if (!Regex.IsMatch(name, @"^[A-Z0-9_]+$", RegexOptions.IgnoreCase))
+ {
+ error = "name can only contain letters, digits, and underscores (_).";
+ return false;
+ }
+
+ error = "";
+ return true;
+ }
+
static XElement GetElement(this XElement element, string name)
{
return element.Element(XName.Get(name))
diff --git a/src/Robots/Program/CheckProgram.cs b/src/Robots/Program/CheckProgram.cs
index 7e337f1..9efeec7 100644
--- a/src/Robots/Program/CheckProgram.cs
+++ b/src/Robots/Program/CheckProgram.cs
@@ -17,13 +17,35 @@ internal CheckProgram(Program program, List cellTargets, double step
{
_robotSystem = program.RobotSystem;
_program = program;
- // groupCount = cellTargets[0].ProgramTargets.Count;
+ CheckName();
FixFirstTarget(cellTargets[0]);
FixTargetAttributes(cellTargets);
IndexError = FixTargetMotions(cellTargets, stepSize);
}
+ void CheckName()
+ {
+ var name = _program.Name;
+
+ if (_robotSystem is RobotCell cell)
+ {
+ var group = cell.MechanicalGroups.MaxBy(g => g.Name.Length).Name;
+ name = $"{name}_{group}_{000}";
+ }
+
+ if (!name.IsValidName(out var error))
+ _program.Errors.Add("Program " + error);
+
+ if (_robotSystem is RobotCellKuka)
+ {
+ var excess = name.Length - 24;
+
+ if (excess > 0)
+ _program.Warnings.Add($"If using an older KRC2 or KRC3 controller, make the program name {excess} character(s) shorter.");
+ }
+ }
+
void FixFirstTarget(CellTarget firstTarget)
{
var fix = firstTarget.ProgramTargets.Where(x => !x.IsJointTarget);
@@ -133,9 +155,10 @@ void FixTargetAttributes(List cellTargets)
// Name attributes with no name
{
var types = new List();
+
foreach (var attribute in _program.Attributes.ToList())
{
- if (attribute.Name is null)
+ if (!attribute.HasName)
{
var type = attribute.GetType();
types.Add(type);
@@ -148,11 +171,16 @@ void FixTargetAttributes(List cellTargets)
// Rename attributes with duplicate names
{
- var duplicates = _program.Attributes.GroupBy(x => x.Name).Where(x => x.Count() > 1);
+ var duplicates = _program.Attributes.GroupBy(a => a.Name);
+
foreach (var group in duplicates)
{
+ if (!group.Skip(1).Any())
+ continue;
+
_program.Warnings.Add($"Multiple target attributes named \"{group.Key}\" found");
int i = 0;
+
foreach (var attribute in group)
{
string name = $"{attribute.Name}{i++:000}";
diff --git a/src/Robots/Program/Program.cs b/src/Robots/Program/Program.cs
index 3d1b348..6bfd115 100644
--- a/src/Robots/Program/Program.cs
+++ b/src/Robots/Program/Program.cs
@@ -34,7 +34,7 @@ public Program(string name, RobotSystem robotSystem, IEnumerable tool
var targets = toolpaths.Select(t => t.Targets);
if (!targets.SelectMany(x => x).Any())
- throw new Exception(" The program has to contain at least 1 target.");
+ throw new ArgumentException(" The program has to contain at least 1 target.");
int targetCount = targets.First().Count();
diff --git a/src/Robots/Program/ProgramTarget.cs b/src/Robots/Program/ProgramTarget.cs
index 3bfa5ab..0c79931 100644
--- a/src/Robots/Program/ProgramTarget.cs
+++ b/src/Robots/Program/ProgramTarget.cs
@@ -165,5 +165,4 @@ internal void SetTargetKinematics(KinematicSolution kinematics, List err
else
ChangesConfiguration = false;
}
-
-}
+}
\ No newline at end of file
diff --git a/src/Robots/TargetAttributes/Frame.cs b/src/Robots/TargetAttributes/Frame.cs
index 1a2d4c2..fab8243 100644
--- a/src/Robots/TargetAttributes/Frame.cs
+++ b/src/Robots/TargetAttributes/Frame.cs
@@ -17,9 +17,8 @@ public class Frame : TargetAttribute
internal int CoupledPlaneIndex { get; set; }
public bool IsCoupled => (CoupledMechanicalGroup != -1);
- public Frame(Plane plane, int coupledMechanism = -1, int coupledMechanicalGroup = -1, string? name = null)
+ public Frame(Plane plane, int coupledMechanism = -1, int coupledMechanicalGroup = -1, string? name = null) : base(name)
{
- Name = name;
Plane = plane;
CoupledMechanism = coupledMechanism;
CoupledMechanicalGroup = coupledMechanicalGroup;
diff --git a/src/Robots/TargetAttributes/Speed.cs b/src/Robots/TargetAttributes/Speed.cs
index c9b5bbc..e8f6900 100644
--- a/src/Robots/TargetAttributes/Speed.cs
+++ b/src/Robots/TargetAttributes/Speed.cs
@@ -36,9 +36,8 @@ public class Speed : TargetAttribute
///
public double Time { get; set; } = 0;
- public Speed(double translation = 100, double rotationSpeed = PI, double translationExternal = 5000, double rotationExternal = PI * 6, string? name = null)
+ public Speed(double translation = 100, double rotationSpeed = PI, double translationExternal = 5000, double rotationExternal = PI * 6, string? name = null) : base(name)
{
- Name = name;
TranslationSpeed = translation;
RotationSpeed = rotationSpeed;
TranslationExternal = translationExternal;
diff --git a/src/Robots/TargetAttributes/TargetAttribute.cs b/src/Robots/TargetAttributes/TargetAttribute.cs
index 6243ee5..9c901e6 100644
--- a/src/Robots/TargetAttributes/TargetAttribute.cs
+++ b/src/Robots/TargetAttributes/TargetAttribute.cs
@@ -2,10 +2,30 @@
public abstract class TargetAttribute
{
+ string? _name;
+
+ protected TargetAttribute(string? name)
+ {
+ if (name is not null)
+ Name = name;
+ }
+
///
/// Name of the attribute
///
- public string? Name { get; internal set; }
+ public string Name
+ {
+ get => _name.NotNull();
+ private set
+ {
+ if (!value.IsValidName(out var error))
+ throw new ArgumentException($" {GetType().Name} {error}");
+
+ _name = value;
+ }
+ }
+
+ public bool HasName => _name is not null;
public T CloneWithName(string name) where T : TargetAttribute
{
@@ -13,4 +33,4 @@ public T CloneWithName(string name) where T : TargetAttribute
attribute.Name = name;
return attribute;
}
-}
+}
\ No newline at end of file
diff --git a/src/Robots/TargetAttributes/Tool.cs b/src/Robots/TargetAttributes/Tool.cs
index ae543fb..da9739a 100644
--- a/src/Robots/TargetAttributes/Tool.cs
+++ b/src/Robots/TargetAttributes/Tool.cs
@@ -6,33 +6,45 @@ public class Tool : TargetAttribute
{
public static Tool Default { get; } = new Tool(Plane.WorldXY, "DefaultTool");
- public Plane Tcp { get; private set; }
+ public Plane Tcp { get; }
public double Weight { get; }
public Point3d Centroid { get; }
public Mesh Mesh { get; }
- public Tool(Plane tcp, string? name = null, double weight = 0, Point3d? centroid = null, Mesh? mesh = null)
+ public Tool(Plane tcp, string? name = null, double weight = 0, Point3d? centroid = null, Mesh? mesh = null, IList? calibrationPlanes = null) : base(name)
{
- Name = name;
- Tcp = tcp;
Weight = weight;
Centroid = (centroid is null) ? tcp.Origin : (Point3d)centroid;
Mesh = mesh ?? new Mesh();
+
+ if (calibrationPlanes is null || !calibrationPlanes.Any())
+ {
+ Tcp = tcp;
+ }
+ else
+ {
+ if (calibrationPlanes.Count != 4)
+ throw new ArgumentException(" Calibration requires 4 planes.");
+
+ var origin = FourPointCalibration(calibrationPlanes);
+ Tcp = new Plane(origin, tcp.XAxis, tcp.YAxis);
+ }
}
- public void FourPointCalibration(Plane a, Plane b, Plane c, Plane d)
+ Point3d FourPointCalibration(IList calibrationPlanes)
{
- var calibrate = new Geometry.CircumcentreSolver(a.Origin, b.Origin, c.Origin, d.Origin);
+ var p = calibrationPlanes;
+ var calibrate = new Geometry.CircumcentreSolver(p[0].Origin, p[1].Origin, p[2].Origin, p[3].Origin);
Point3d tcpOrigin = Point3d.Origin;
- foreach (Plane plane in new Plane[] { a, b, c, d })
+ foreach (Plane plane in calibrationPlanes)
{
plane.RemapToPlaneSpace(calibrate.Center, out Point3d remappedPoint);
tcpOrigin += remappedPoint;
}
- tcpOrigin /= 4;
- Tcp = new Plane(tcpOrigin, Tcp.XAxis, Tcp.YAxis);
+ tcpOrigin /= 4.0;
+ return tcpOrigin;
}
public override string ToString() => $"Tool ({Name})";
diff --git a/src/Robots/TargetAttributes/Zone.cs b/src/Robots/TargetAttributes/Zone.cs
index 5a92b65..4222ac7 100644
--- a/src/Robots/TargetAttributes/Zone.cs
+++ b/src/Robots/TargetAttributes/Zone.cs
@@ -29,9 +29,8 @@ public class Zone : TargetAttribute
// RotationExternal = Rotation;
//}
- public Zone(double distance, double? rotation = null, double? rotationExternal = null, string? name = null)
+ public Zone(double distance, double? rotation = null, double? rotationExternal = null, string? name = null) : base(name)
{
- Name = name;
Distance = distance;
if (rotation.HasValue)
diff --git a/src/Robots/Util.cs b/src/Robots/Util.cs
index 6c97762..85b1cc8 100644
--- a/src/Robots/Util.cs
+++ b/src/Robots/Util.cs
@@ -13,7 +13,7 @@ static class Util
public const double UnitTol = 0.000001;
public const double SingularityTol = 0.0001;
public const double HalfPI = PI * 0.5;
- public const double PI2 = PI * 2.0;
+ public const double PI2 = PI * 2.0;
// File
@@ -84,6 +84,28 @@ public static T[] RangeSubset(this T[] array, int startIndex, int length)
return subset;
}
+ public static T MaxBy(this IEnumerable list, Func comparable) where K : IComparable
+ {
+ if (!list.Any())
+ throw new ArgumentException("List can't be empty.");
+
+ T maxItem = list.First();
+ K maxValue = comparable(maxItem);
+
+ foreach (var item in list.Skip(1))
+ {
+ var val = comparable(item);
+
+ if (val.CompareTo(maxValue) > 0)
+ {
+ maxValue = val;
+ maxItem = item;
+ }
+ }
+
+ return maxItem;
+ }
+
public static IEnumerable> Transpose(this IEnumerable> source)
{
var enumerators = source.Select(e => e.GetEnumerator()).ToArray();