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Adding switch statements to incorporate FixedPositive and FixedNegative Constraint6DOF #549

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Adding switch statements to incorporate FixedPositive and FixedNegative Constraint6DOF #549

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Adding switch statements to incorporate FixedPositive and FixedNegative
Nazeefa710 Aug 2, 2024
14c82b2
Updated the code to include rotation contsraints, removed commented c…
Nazeefa710 Aug 8, 2024
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84 changes: 72 additions & 12 deletions Robot_Adapter/Convert/ToRobot/Properties/Support.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -33,18 +33,78 @@ public static partial class Convert

public static void ToRobot(IRobotNodeSupportData suppData, Constraint6DOF constraint)
{
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;
//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,

switch (constraint.TranslationZ)
{
case DOFType.Fixed:
suppData.UZ = 1;
break;
case DOFType.FixedPositive:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_PLUS);
break;
case DOFType.FixedNegative:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UZ, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_MINUS);
break;
default:
suppData.UZ = 0;
break;
}

switch (constraint.TranslationY)
{
case DOFType.Fixed:
suppData.UY = 1;
break;
case DOFType.FixedPositive:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UY, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_PLUS);
break;
case DOFType.FixedNegative:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UY, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_MINUS);
break;
default:
suppData.UY = 0;
break;
}

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.

{
case DOFType.Fixed:
suppData.UX = 1;
break;
case DOFType.FixedPositive:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UX, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_PLUS);
break;
case DOFType.FixedNegative:
suppData.SetOneDir(IRobotNodeSupportFixingDirection.I_NSFD_UX, IRobotNodeSupportOneDirectionFixingType.I_NSODFT_MINUS);
break;
default:
suppData.UX = 0;
break;
}

//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;
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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,

}

/***************************************************/
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