init: 导入项目到 meswork Gitea

DataMirrorTools_Simulator/Foundation/Base.Class/Kinematics.cs

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+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace KinematicsBase
+{
+    #region BaseClass
+
+
+    /// <summary>
+    /// Clones the specified list.
+    /// </summary>
+    /// <typeparam name="T"></typeparam>
+    /// <param name="List">The list.</param>
+    /// <returns>List{``0}.</returns>
+    [Serializable]
+    public enum DeviceType
+    {
+        Default = 0,
+        Device = 1,
+        Robot = 2,
+        AGV = 3,
+        Gripper = 4,
+        Err = 1000
+    }
+    [Serializable]
+    /// <summary>
+    /// 接受选择的模型
+    /// </summary>
+    public class ModelSelect
+    {
+        public string ModelCode { get; set; }
+        public string ModelName { get; set; }
+        public string tx { get; set; }
+        public string ty { get; set; }
+        public string rx { get; set; }
+        public string ry { get; set; }
+        public string rz { get; set; }
+        public DeviceType DeviceTypeCode { get; set; }
+    }
+    [Serializable]
+    public enum AxisFlag
+    {
+        X,
+        Y,
+        Z
+    }
+
+    /// <summary>
+    /// 从一个姿态到另一个姿态是时间优先或速度有限
+    /// </summary>
+    [Serializable]
+    public enum MoveToPosePriorType
+    {
+        Time,
+        Velocity
+    }
+    [Serializable]
+    public class Position
+    {
+        public double X { set; get; }
+        public double Y { set; get; }
+        public double Z { set; get; }
+    }
+    [Serializable]
+    public class FixedAngle
+    {
+        public FixedAngle()
+        {
+        }
+
+        public double R { set; get; }
+        public double P { set; get; }
+        public double Y { set; get; }
+    }
+    /// <summary>
+    /// 运动约束单位矩阵
+    /// </summary>
+    [Serializable]
+    public class PositionNormalMatrix
+    {
+        public int x { set; get; }
+        public int y { set; get; }
+        public int z { set; get; }
+        public int rx { set; get; }
+        public int ry { set; get; }
+        public int rz { set; get; }
+    }
+    [Serializable]
+    public class Quaternion
+    {
+        public Quaternion()
+        {
+        }
+
+        public double X { set; get; }
+        public double Y { set; get; }
+        public double Z { set; get; }
+        public double W { set; get; }
+    }
+    [Serializable]
+    public class PositionFixedAngle
+    {
+        public PositionFixedAngle()
+        {
+            this.Position = new Position();
+            this.FixedAngle = new FixedAngle();
+        }
+        public Position Position { set; get; }
+
+        public FixedAngle FixedAngle { set; get; }
+    }
+    [Serializable]
+    public class PositionQuaternion
+    {
+        public PositionQuaternion()
+        {
+            this.Position = new Position();
+            this.Quaternion = new Quaternion();
+        }
+        public Position Position { set; get; }
+        public Quaternion Quaternion { set; get; }
+    }
+    [Serializable]
+    public class PositionQuaternionWithID : PositionQuaternion
+    {
+        public PositionQuaternionWithID()
+        {
+            this.UUID = "";
+        }
+        public string UUID { set; get; }
+    }
+
+
+    [Serializable]
+    public class Point
+    {
+        public Point()
+        {
+
+        }
+        public Point(double x, double y, double z)
+        {
+            this.X = x;
+            this.Y = y;
+            this.Z = z;
+        }
+
+        public double X { get; set; }
+
+        public double Y { get; set; }
+
+        public double Z { get; set; }
+    }
+    [Serializable]
+    public class Axis
+    {
+        public Axis()
+        {
+            this.Start = new Point();
+            this.End = new Point();
+            this.Flip = 0;
+        }
+        public Axis(Point start, Point end)
+        {
+            this.Start = start;
+            this.End = end;
+            this.Flip = 0;
+        }
+
+        public Point Start { get; set; }
+
+        public Point End { get; set; }
+
+        public AxisFlag AxisFlag { get; set; }
+        /// <summary>
+        /// 1.反向，0.正常
+        /// </summary>
+        public int Flip { get; set; }
+
+        public PositionFixedAngle Loaction { get; set; }
+        public PositionQuaternion LoactionQuaternion { get; set; }
+    }
+
+
+
+    #endregion
+}
+
+
+