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init: 导入项目到 meswork Gitea

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XingCheng3
2026-05-29 10:07:05 +08:00
commit ad9a4106fb
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DataMirrorTools_Simulator/Foundation/Base.Class/CurrPostion.cs Normal file
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using System;
using System.Collections.Generic;
/// <summary>
/// CurrPostion
/// 2021.1.~
/// </summary>
[Serializable]
public class CurrPostion
{
///// <summary>
///// 帧
///// </summary>
//public int Index
//{
// get;
// set;
//}
public string CraftCode
{
get;
set;
}
/// <summary>
/// 模型名
/// </summary>
public string ModelCode
{
get;
set;
}
/// <summary>
/// 模型名
/// </summary>
public string ModelName
{
get;
set;
}
/// <summary>
/// X
/// </summary>
public double X
{
get;
set;
}
/// <summary>
/// Y
/// </summary>
public double Y
{
get;
set;
}
/// <summary>
/// Z
/// </summary>
public double Z
{
get;
set;
}
/// <summary>
/// RX
/// </summary>
public double RX
{
get;
set;
}
/// <summary>
/// RY
/// </summary>
public double RY
{
get;
set;
}
/// <summary>
/// RZ
/// </summary>
public double RZ
{
get;
set;
}
/// <summary>
/// QX
/// </summary>
public double QX
{
get;
set;
}
/// <summary>
/// QY
/// </summary>
public double QY
{
get;
set;
}
/// <summary>
/// QZ
/// </summary>
public double QZ
{
get;
set;
}
/// <summary>
/// QW
/// </summary>
public double QW
{
get;
set;
}
/// <summary>
/// X_Base
/// </summary>
public double X_Base
{
get;
set;
}
/// <summary>
/// Y_Base
/// </summary>
public double Y_Base
{
get;
set;
}
/// <summary>
/// Z_Base
/// </summary>
public double Z_Base
{
get;
set;
}
/// <summary>
/// RX_Base
/// </summary>
public double RX_Base
{
get;
set;
}
/// <summary>
/// RY_Base
/// </summary>
public double RY_Base
{
get;
set;
}
/// <summary>
/// RZ_Base
/// </summary>
public double RZ_Base
{
get;
set;
}
/// <summary>
/// QX_Base
/// </summary>
public double QX_Base
{
get;
set;
}
/// <summary>
/// QY_Base
/// </summary>
public double QY_Base
{
get;
set;
}
/// <summary>
/// QZ_Base
/// </summary>
public double QZ_Base
{
get;
set;
}
/// <summary>
/// QW_Base
/// </summary>
public double QW_Base
{
get;
set;
}
/// <summary>
/// X_Tool
/// </summary>
public double X_Tool
{
get;
set;
}
/// <summary>
/// Y_Tool
/// </summary>
public double Y_Tool
{
get;
set;
}
/// <summary>
/// Z_Tool
/// </summary>
public double Z_Tool
{
get;
set;
}
/// <summary>
/// RX_Tool
/// </summary>
public double RX_Tool
{
get;
set;
}
/// <summary>
/// RY_Tool
/// </summary>
public double RY_Tool
{
get;
set;
}
/// <summary>
/// RZ_Tool
/// </summary>
public double RZ_Tool
{
get;
set;
}
/// <summary>
/// QX_Tool
/// </summary>
public double QX_Tool
{
get;
set;
}
/// <summary>
/// QY_Tool
/// </summary>
public double QY_Tool
{
get;
set;
}
/// <summary>
/// QZ_Tool
/// </summary>
public double QZ_Tool
{
get;
set;
}
/// <summary>
/// QW_Tool
/// </summary>
public double QW_Tool
{
get;
set;
}
public string CurrJoint { get; set; }
public string MoveType { get; set; }
public double J1 { get; set; }
public double J2 { get; set; }
public double J3 { get; set; }
public double J4 { get; set; }
public double J5 { get; set; }
public double J6 { get; set; }
public string ProcessCode { get; set; }
public int SequenceNo { get; set; }
public string ProcessName { get; set; }
public int UseTime { get; set; }
public List<JointData> currentJoint = null;
public void SetCurrJoint()
{
this.CurrJoint =
"["
+ J1.ToString("f5") + ","
+ J2.ToString("f5") + ","
+ J3.ToString("f5") + ","
+ J4.ToString("f5") + ","
+ J5.ToString("f5") + ","
+ J6.ToString("f5")
+ "]";
}
public void SetTcpQ(double[] tcpQ)
{
X = tcpQ[0];
Y = tcpQ[1];
Z = tcpQ[2];
QX = tcpQ[3];
QY = tcpQ[4];
QZ = tcpQ[5];
QW = tcpQ[6];
}
public void SetTcpRpy(double[] tcpRpy)
{
X = tcpRpy[0];
Y = tcpRpy[1];
Z = tcpRpy[2];
RX = tcpRpy[3];
RY = tcpRpy[4];
RZ = tcpRpy[5];
}
public void SetJ(double[] p_JList)
{
J1 = p_JList[0];
J2 = p_JList[1];
J3 = p_JList[2];
J4 = p_JList[3];
J5 = p_JList[4];
J6 = p_JList[5];
SetCurrJoint();
}
public double[] GetJ()
{
return new double[] { J1, J2, J3, J4, J5, J6 };
}
public double[] GetTcpQ()
{
return new double[] { X, Y, Z, QX, QY, QZ, QW };
}
public double[] GetTcpRpy()
{
return new double[] { X, Y, Z, RX, RY, RZ };
}
public double[] GetTen()
{
return new double[] { X, Y, Z, QX, QY, QZ, QW, RX, RY, RZ };
}
public double[] GetBaseTen()
{
return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base, RX_Base, RY_Base, RZ_Base };
}
public double[] GetBaseQ()
{
return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base };
}
public double[] GetBaseRpy()
{
return new double[] { X_Base, Y_Base, Z_Base, RX_Base, RY_Base, RZ_Base };
}
public double[] GetToolTen()
{
return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool, RX_Tool, RY_Tool, RZ_Tool };
}
public double[] GetToolQ()
{
return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool };
}
public double[] GetToolRpy()
{
return new double[] { X_Tool, Y_Tool, Z_Tool, RX_Tool, RY_Tool, RZ_Tool };
}
}
[Serializable]
public class JointData
{
public string id;
public string name;
public string value;
public string type;
}
/////// <summary>
/////// 带 currentJoint 信息
/////// </summary>
////[Serializable]
////public class CurrJoint : CurrPostion
////{
//// public List<JointData> currentJoint = null;
////}
///// <summary>
///// 带 currentJoint 信息
///// </summary>
//[Serializable]
//public class CurrJoint_J : CurrJoint
//{
//}
public class CurrJointName
{
public const string CraftCode = "CraftCode";
public const string ProcessCode = "ProcessCode";
public const string SequenceNo = "SequenceNo";
public const string ProcessName = "ProcessName";
public const string UseTime = "UseTime";
public const string X = "X";
public const string Y = "Y";
public const string Z = "Z";
public const string RX = "RX";
public const string RY = "RY";
public const string RZ = "RZ";
public const string X_Base = "X_Base";
public const string Y_Base = "Y_Base";
public const string Z_Base = "Z_Base";
public const string RX_Base = "RX_Base";
public const string RY_Base = "RY_Base";
public const string RZ_Base = "RZ_Base";
public const string X_Tool = "X_Tool";
public const string Y_Tool = "Y_Tool";
public const string Z_Tool = "Z_Tool";
public const string RX_Tool = "RX_Tool";
public const string RY_Tool = "RY_Tool";
public const string RZ_Tool = "RZ_Tool";
public const string QX = "QX";
public const string QY = "QY";
public const string QZ = "QZ";
public const string QW = "QW";
public const string QX_Base = "QX_Base";
public const string QY_Base = "QY_Base";
public const string QZ_Base = "QZ_Base";
public const string QW_Base = "QW_Base";
public const string QX_Tool = "QX_Tool";
public const string QY_Tool = "QY_Tool";
public const string QZ_Tool = "QZ_Tool";
public const string QW_Tool = "QW_Tool";
public const string ModelCode = "ModelCode";
public const string ModelName = "ModelName";
public const string Reverse = "Reverse";
public const string CurrJoint = "CurrJoint";
public const string MoveType = "MoveType";
public const string J1 = "J1";
public const string J2 = "J2";
public const string J3 = "J3";
public const string J4 = "J4";
public const string J5 = "J5";
public const string J6 = "J6";
}