/// <summary>
/// 模型属性
/// 2021.4.2，修改
/// </summary>
//[System.Serializable]
public class ModelAttribute
{
    /// <summary>
    ///ModelCode
    /// </summary>
    public string ModelCode
    {
        get;
        set;
    }
    /// <summary>
    /// ModelTypeCode
    /// </summary>
    public string ModelTypeCode
    {
        get;
        set;
    }
    /// <summary>
    ///ModelName
    /// </summary>
    public string ModelName
    {
        get;
        set;
    }
    /// <summary>
    /// DeviceTypeCode
    /// </summary>
    public int DeviceTypeCode
    {
        get;
        set;
    }
    /// <summary>
    /// DeviceTypeName
    /// </summary>
    public string DeviceTypeName
    {
        get;
        set;
    }  
    /// <summary>
    /// 完整的Urdf文件内容
    /// 2021.5.10
    /// </summary>
    public string UrdfContent
    {
        get;
        set;
    }
    /// <summary>
    /// 运动学
    /// 2021.12.22.LLX
    /// KinematicsData
    /// </summary>
    public KinematicsBase.Kinematics KinematicsData
    {
        get;
        set;
    } = null;

    public CurrModelPosition Position
    {
        get;
        set;
    } = null;

}



/// <summary>
/// 
/// </summary>
public class CurrModelPosition
{
    /// <summary>
    /// 
    /// </summary>
    public double tx
    {
        get; 
        set; 
    }
    /// <summary>
    /// 
    /// </summary>
    public double ty
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double tz
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double rx
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double ry
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double rz
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double qx
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double qy
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double qz
    {
        get;
        set;
    }
    /// <summary>
    /// 
    /// </summary>
    public double qw
    {
        get;
        set;
    }

}