Adding switch statements to incorporate FixedPositive and FixedNegative Constraint6DOF #549
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Nazeefa710
added
good first issue
peterjamesnugent
requested changes
Aug 7, 2024
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Good start @Nazeefa710! Some suggestions below.
We should also make sure we can Pull back to the supports correctly.
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| //if (constraint.TranslationZ == DOFType.Fixed) | ||
| // suppData.UZ = 1; | ||
| //else if (constraint.TranslationZ == DOFType.FixedPositive) | ||
| // suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_PLUS); | ||
| //else if (constraint.TranslationZ == DOFType.FixedNegative) | ||
| // suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_MINUS); | ||
| //else | ||
| // suppData.UZ = 0; | ||
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Suggested change
| //if (constraint.TranslationZ == DOFType.Fixed) | |
| // suppData.UZ = 1; | |
| //else if (constraint.TranslationZ == DOFType.FixedPositive) | |
| // suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_PLUS); | |
| //else if (constraint.TranslationZ == DOFType.FixedNegative) | |
| // suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_MINUS); | |
| //else | |
| // suppData.UZ = 0; |
Remove commented code,
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| //suppData.UX = constraint.TranslationX == DOFType.Fixed ? 1 : 0; | ||
| //suppData.UY = constraint.TranslationY == DOFType.Fixed ? 1 : 0; | ||
| //suppData.UZ = constraint.TranslationZ == DOFType.Fixed ? 1 : 0; | ||
| //suppData.RX = constraint.RotationX == DOFType.Fixed ? 1 : 0; | ||
| //suppData.RY = constraint.RotationY == DOFType.Fixed ? 1 : 0; | ||
| //suppData.RZ = constraint.RotationZ == DOFType.Fixed ? 1 : 0; | ||
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| //suppData.KX = constraint.TranslationalStiffnessX; | ||
| //suppData.KY = constraint.TranslationalStiffnessY; | ||
| //suppData.KZ = constraint.TranslationalStiffnessZ; | ||
| //suppData.HX = constraint.RotationalStiffnessX; | ||
| //suppData.HY = constraint.RotationalStiffnessY; | ||
| //suppData.HZ = constraint.RotationalStiffnessZ; |
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Suggested change
| //suppData.UX = constraint.TranslationX == DOFType.Fixed ? 1 : 0; | |
| //suppData.UY = constraint.TranslationY == DOFType.Fixed ? 1 : 0; | |
| //suppData.UZ = constraint.TranslationZ == DOFType.Fixed ? 1 : 0; | |
| //suppData.RX = constraint.RotationX == DOFType.Fixed ? 1 : 0; | |
| //suppData.RY = constraint.RotationY == DOFType.Fixed ? 1 : 0; | |
| //suppData.RZ = constraint.RotationZ == DOFType.Fixed ? 1 : 0; | |
| //suppData.KX = constraint.TranslationalStiffnessX; | |
| //suppData.KY = constraint.TranslationalStiffnessY; | |
| //suppData.KZ = constraint.TranslationalStiffnessZ; | |
| //suppData.HX = constraint.RotationalStiffnessX; | |
| //suppData.HY = constraint.RotationalStiffnessY; | |
| //suppData.HZ = constraint.RotationalStiffnessZ; |
Remove commented code,
| break; | ||
| } | ||
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| switch (constraint.TranslationX) |
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Suggested change
| switch (constraint.TranslationX) | |
| switch (constraint.TranslationX) |
Can these be in order of X,Y and Z. We also need to add the rotations.
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Tested using test script (530 test script). |
…ode and put translations in order of x, y, z.
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Tested 12/08/24 using test script |
| switch (constraint.RotationZ) | ||
| { | ||
| case DOFType.Fixed: | ||
| suppData.UZ = 1; |
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Suggested change
| suppData.UZ = 1; | |
| suppData.RZ = 1; | |
peterjamesnugent
added
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status:do-not-merge
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Issues addressed by this PR
Closes #530
Test files
https://burohappold.sharepoint.com/:f:/s/BHoM/EvWSc5Jc0PtFvwM7upa8hRAB65IoKfVBQrjlRdRF3ucbtg?e=FMujFI
Changelog
FixedNegativeandFixedPositiveConstraint6DOF.Additional comments