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Use Base::toRadians() instead of manually converting

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This commit is contained in:
Benjamin Nauck
2025-04-09 09:14:54 +02:00
parent 1f8c8043fc
commit 21fbf8e539
43 changed files with 129 additions and 106 deletions
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39
src/Mod/Robot/Gui/ViewProviderRobotObject.cpp
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@@ -34,6 +34,7 @@
#include <Inventor/nodes/SoSeparator.h>
#endif
#include <Base/Tools.h>
#include <App/Document.h>
#include <App/VRMLObject.h>
#include <Gui/Application.h>
@@ -173,8 +174,6 @@ void ViewProviderRobotObject::onChanged(const App::Property* prop)
void ViewProviderRobotObject::updateData(const App::Property* prop)
{
using std::numbers::pi;
Robot::RobotObject* robObj = static_cast<Robot::RobotObject*>(pcObject);
if (prop == &robObj->RobotVrmlFile) {
// read also from file
@@ -271,33 +270,33 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
}
if (Axis1Node) {
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis1.getValue() * (pi / 180));
Base::toRadians(robObj->Axis1.getValue()));
}
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis2.getValue() * (pi / 180));
Base::toRadians(robObj->Axis2.getValue()));
}
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis3.getValue() * (pi / 180));
Base::toRadians(robObj->Axis3.getValue()));
}
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis4.getValue() * (pi / 180));
Base::toRadians(robObj->Axis4.getValue()));
}
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis5.getValue() * (pi / 180));
Base::toRadians(robObj->Axis5.getValue()));
}
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis6.getValue() * (pi / 180));
Base::toRadians(robObj->Axis6.getValue()));
}
}
else if (prop == &robObj->Axis1) {
if (Axis1Node) {
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis1.getValue() * (pi / 180));
Base::toRadians(robObj->Axis1.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -307,7 +306,7 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
else if (prop == &robObj->Axis2) {
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis2.getValue() * (pi / 180));
Base::toRadians(robObj->Axis2.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -317,7 +316,7 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
else if (prop == &robObj->Axis3) {
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis3.getValue() * (pi / 180));
Base::toRadians(robObj->Axis3.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -327,7 +326,7 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
else if (prop == &robObj->Axis4) {
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis4.getValue() * (pi / 180));
Base::toRadians(robObj->Axis4.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -337,7 +336,7 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
else if (prop == &robObj->Axis5) {
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis5.getValue() * (pi / 180));
Base::toRadians(robObj->Axis5.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -347,7 +346,7 @@ void ViewProviderRobotObject::updateData(const App::Property* prop)
else if (prop == &robObj->Axis6) {
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0),
robObj->Axis6.getValue() * (pi / 180));
Base::toRadians(robObj->Axis6.getValue()));
if (toolShape) {
toolShape->setTransformation(
(robObj->Tcp.getValue() * (robObj->ToolBase.getValue().inverse())).toMatrix());
@@ -404,22 +403,22 @@ void ViewProviderRobotObject::setAxisTo(float A1,
if (Axis1Node) {
// FIXME Ugly hack for the wrong transformation of the Kuka 500 robot VRML the minus sign on
// Axis 1
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A1 * (pi / 180));
Axis1Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A1));
}
if (Axis2Node) {
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A2 * (pi / 180));
Axis2Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A2));
}
if (Axis3Node) {
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A3 * (pi / 180));
Axis3Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A3));
}
if (Axis4Node) {
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A4 * (pi / 180));
Axis4Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A4));
}
if (Axis5Node) {
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A5 * (pi / 180));
Axis5Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A5));
}
if (Axis6Node) {
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), A6 * (pi / 180));
Axis6Node->rotation.setValue(SbVec3f(0.0, 1.0, 0.0), Base::toRadians(A6));
}
// update tool position
if (toolShape) {