120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
74 lines
3.0 KiB
C++
74 lines
3.0 KiB
C++
/***************************************************************************
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* Copyright (c) 2008 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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#ifndef _PreComp_
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# include <Python.h>
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#endif
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#include <Base/Console.h>
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#include <Base/VectorPy.h>
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#include "TrajectoryPy.h"
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#include "Robot6AxisPy.h"
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#include "Simulation.h"
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#include "RobotAlgos.h"
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using namespace Robot;
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static PyObject *
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simulateToFile(PyObject *self, PyObject *args)
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{
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PyObject *pcRobObj;
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PyObject *pcTracObj;
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float tick;
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char* FileName;
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if (!PyArg_ParseTuple(args, "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
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&(TrajectoryPy::Type), &pcTracObj,
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&tick,&FileName
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) )
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return NULL; // NULL triggers exception
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PY_TRY {
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Robot::Trajectory &Trac = * static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
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Robot::Robot6Axis &Rob = * static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
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Simulation Sim(Trac,Rob);
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} PY_CATCH;
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return Py::new_reference_to(Py::Float(0.0));
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}
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/* registration table */
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struct PyMethodDef Robot_methods[] = {
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{"simulateToFile" ,simulateToFile ,METH_VARARGS,
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"void simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."},
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{NULL, NULL} /* end of table marker */
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};
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