using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;

namespace KinematicsBase
{
    #region BaseClass


    [Serializable]
    public class JointPose
    {
        /// <summary>
        /// 0
        /// </summary>
        public string JointId { get; set; }
        /// <summary>
        /// 1 名称
        /// </summary>
        public string JointName { get; set; }
        public string ModelId { get; set; }
        /// <summary>
        /// 2 值
        /// </summary>
        public double Value { get; set; }
        /// <summary>
        /// 3 速度
        /// </summary>
        public double Speed { get; set; }

        /// <summary>
        /// 4 驱动关节
        /// </summary>
        public bool IsDriving { get; set; }
        /// <summary>
        /// 5 倍率
        /// </summary>
        public double ValueFactor { get; set; }
        /// <summary>
        /// 6 加速
        /// </summary>
        public double AccelerationStart { get; set; }
        /// <summary>
        /// 7 减速
        /// </summary>
        public double AccelerationEnd { get; set; }
        /// <summary>
        /// 8 最小值
        /// </summary>
        public double LowLimit { get; set; }
        /// <summary>
        /// 9 最大值
        /// </summary>
        public double HighLimit { get; set; }
        /// <summary>
        /// 10 时间
        /// </summary>
        public int Interval { get; set; }
        public JointPose()
        {

        }
        public JointPose(string JointId, string JointName)
        {
            this.JointId = JointId;
            this.JointName = JointName;
            Value = 0;
            Speed = 100;
            ValueFactor = 1;
        }

    }



    #endregion
}