01-Siyuan-MesProject/DataMirrorTools_Simulator/Foundation/Base.Class/Kinematics.cs

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
}