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