147 lines
6.1 KiB
C++
147 lines
6.1 KiB
C++
/***************************************************************************
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* Copyright (c) 2010 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#include "TrajectoryDressUpObject.h"
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#include "Waypoint.h"
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using namespace Robot;
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using namespace App;
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PROPERTY_SOURCE(Robot::TrajectoryDressUpObject, Robot::TrajectoryObject)
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const char* TrajectoryDressUpObject::ContTypeEnums[] = {"DontChange",
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"Continues",
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"Discontinues",
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nullptr};
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const char* TrajectoryDressUpObject::AddTypeEnums[] = {"DontChange",
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"UseOrientation",
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"AddPosition",
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"AddOrintation",
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"AddPositionAndOrientation",
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nullptr};
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TrajectoryDressUpObject::TrajectoryDressUpObject()
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{
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ADD_PROPERTY_TYPE(Source, (nullptr), "TrajectoryDressUp", Prop_None, "Trajectory to dress up");
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ADD_PROPERTY_TYPE(Speed, (1000), "TrajectoryDressUp", Prop_None, "Speed to use");
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ADD_PROPERTY_TYPE(UseSpeed, (0), "TrajectoryDressUp", Prop_None, "Switch the speed usage on");
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ADD_PROPERTY_TYPE(Acceleration, (1000), "TrajectoryDressUp", Prop_None, "Acceleration to use");
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ADD_PROPERTY_TYPE(UseAcceleration,
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(0),
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"TrajectoryDressUp",
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Prop_None,
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"Switch the acceleration usage on");
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ADD_PROPERTY_TYPE(ContType,
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((long)0),
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"TrajectoryDressUp",
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Prop_None,
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"Define the dress up of continuity");
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ContType.setEnums(ContTypeEnums);
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ADD_PROPERTY_TYPE(PosAdd,
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(Base::Placement()),
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"TrajectoryDressUp",
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Prop_None,
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"Position & Orientation to use");
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ADD_PROPERTY_TYPE(AddType,
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((long)0),
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"TrajectoryDressUp",
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Prop_None,
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"How to change the Position & Orientation");
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AddType.setEnums(AddTypeEnums);
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}
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App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute()
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{
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Robot::Trajectory result;
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App::DocumentObject* link = Source.getValue();
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if (!link) {
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return new App::DocumentObjectExecReturn("No object linked");
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}
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if (!link->isDerivedFrom<Robot::TrajectoryObject>()) {
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return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");
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}
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const std::vector<Waypoint*>& wps =
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static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
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for (auto wp : wps) {
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Waypoint wpt = *wp;
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if (UseSpeed.getValue()) {
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wpt.Velocity = Speed.getValue();
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}
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if (UseAcceleration.getValue()) {
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wpt.Acceleration = Acceleration.getValue();
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}
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switch (ContType.getValue()) {
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case 0:
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break;
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case 1:
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wpt.Cont = true;
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break;
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case 2:
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wpt.Cont = false;
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break;
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default:
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assert(0); // must not happen!
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}
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switch (AddType.getValue()) {
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// do nothing
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case 0:
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break;
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// use orientation
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case 1:
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wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
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break;
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// add position
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case 2:
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wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
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break;
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// add orientation
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case 3:
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wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
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break;
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// add orientation & position
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case 4:
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wpt.EndPos = wpt.EndPos * PosAdd.getValue();
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break;
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default:
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assert(0); // must not happen!
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}
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result.addWaypoint(wpt);
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}
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// set the resulting Trajectory to the object
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Trajectory.setValue(result);
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return App::DocumentObject::StdReturn;
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}
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void TrajectoryDressUpObject::onChanged(const Property* prop)
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{
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App::GeoFeature::onChanged(prop);
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}
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