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/***************************************************************************
* Copyright (c) 2010 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <Base/Sequencer.h>
#include <Mod/Part/App/PartFeature.h>
#include <Mod/Part/App/edgecluster.h>
#include "Edge2TracObject.h"
#include "Trajectory.h"
#include "Waypoint.h"
using namespace Robot;
using namespace App;
PROPERTY_SOURCE(Robot::Edge2TracObject, Robot::TrajectoryObject)
Edge2TracObject::Edge2TracObject()
{
ADD_PROPERTY_TYPE(Source, (nullptr), "Edge2Trac", Prop_None, "Edges to generate the Trajectory");
ADD_PROPERTY_TYPE(SegValue, (0.5), "Edge2Trac", Prop_None, "Max deviation from original geometry");
ADD_PROPERTY_TYPE(UseRotation, (0), "Edge2Trac", Prop_None, "use orientation of the edge");
NbrOfEdges = 0;
NbrOfCluster = 0;
}
App::DocumentObjectExecReturn* Edge2TracObject::execute()
{
App::DocumentObject* link = Source.getValue();
if (!link) {
return new App::DocumentObjectExecReturn("No object linked");
}
if (!link->isDerivedFrom<Part::Feature>()) {
return new App::DocumentObjectExecReturn("Linked object is not a Part object");
}
Part::Feature* base = static_cast<Part::Feature*>(Source.getValue());
const Part::TopoShape& TopShape = base->Shape.getShape();
const std::vector<std::string>& SubVals = Source.getSubValuesStartsWith("Edge");
if (SubVals.empty()) {
return new App::DocumentObjectExecReturn("No Edges specified");
}
// container for all the edges
std::vector<TopoDS_Edge> edges;
// run through the edge name and get the real objects from the TopoShape
for (const auto& SubVal : SubVals) {
TopoDS_Edge edge = TopoDS::Edge(TopShape.getSubShape(SubVal.c_str()));
edges.push_back(edge);
}
// instantiate an edge cluster sorter and get the result
Part::Edgecluster acluster(edges);
Part::tEdgeClusterVector aclusteroutput = acluster.GetClusters();
if (aclusteroutput.empty()) {
return new App::DocumentObjectExecReturn("No Edges specified");
}
// set the number of cluster and edges
NbrOfCluster = aclusteroutput.size();
NbrOfEdges = 0;
for (const auto& it : aclusteroutput) {
NbrOfEdges += it.size();
}
// trajectory to fill
Robot::Trajectory trac;
bool first = true;
// cycle through the cluster
for (const auto& it : aclusteroutput) {
// cycle through the edges of the cluster
for (const auto& it2 : it) {
BRepAdaptor_Curve adapt(it2);
switch (adapt.GetType()) {
case GeomAbs_Line: {
// get start and end point
gp_Pnt P1 = adapt.Value(adapt.FirstParameter());
gp_Pnt P2 = adapt.Value(adapt.LastParameter());
Base::Rotation R1;
Base::Rotation R2;
// if orientation is used
if (UseRotation.getValue()) {
// here get the orientation of the start and end point...
// R1 = ;
// R2 = ;
}
// if reverse orintation, switch the points
if (it2.Orientation() == TopAbs_REVERSED) {
// switch the points and orientation
gp_Pnt tmpP = P1;
Base::Rotation tmpR = R1;
P1 = P2;
R1 = R2;
R2 = tmpR;
P2 = tmpP;
}
if (first) {
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P1.X(), P1.Y(), P1.Z()), R1));
trac.addWaypoint(wp);
first = false;
}
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P2.X(), P2.Y(), P2.Z()), R2));
trac.addWaypoint(wp);
break;
}
case GeomAbs_BSplineCurve: {
Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
Standard_Real ParLength = adapt.LastParameter() - adapt.FirstParameter();
Standard_Real NbrSegments = Round(Length / SegValue.getValue());
Standard_Real beg = adapt.FirstParameter();
Standard_Real end = adapt.LastParameter();
Standard_Real stp = ParLength / NbrSegments;
bool reversed = false;
if (it2.Orientation() == TopAbs_REVERSED) {
std::swap(beg, end);
stp = -stp;
reversed = true;
}
if (first) {
first = false;
}
else {
beg += stp;
}
Base::SequencerLauncher seq(
"Create waypoints",
static_cast<size_t>((end - beg) / stp)
);
if (reversed) {
for (; beg > end; beg += stp) {
gp_Pnt P = adapt.Value(beg);
Base::Rotation R1;
// if orientation is used
if (UseRotation.getValue()) {
// here get the orientation of the start and end point...
// R1 = ;
}
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
trac.addWaypoint(wp);
seq.next();
}
}
else {
for (; beg < end; beg += stp) {
gp_Pnt P = adapt.Value(beg);
Base::Rotation R1;
// if orientation is used
if (UseRotation.getValue()) {
// here get the orientation of the start and end point...
// R1 = ;
}
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
trac.addWaypoint(wp);
seq.next();
}
}
} break;
case GeomAbs_Circle: {
Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
Standard_Real ParLength = adapt.LastParameter() - adapt.FirstParameter();
Standard_Real NbrSegments = Round(Length / SegValue.getValue());
Standard_Real SegLength = ParLength / NbrSegments;
if (it2.Orientation() == TopAbs_REVERSED) {
// Beginning and End switch
double i = adapt.LastParameter();
if (first) {
first = false;
}
else {
i -= SegLength;
}
for (; i > adapt.FirstParameter(); i -= SegLength) {
gp_Pnt P = adapt.Value(i);
Base::Rotation R1;
// if orientation is used
if (UseRotation.getValue()) {
// here get the orientation of the start and end point...
// R1 = ;
}
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
trac.addWaypoint(wp);
}
}
else {
double i = adapt.FirstParameter();
if (first) {
first = false;
}
else {
i += SegLength;
}
for (; i < adapt.LastParameter(); i += SegLength) {
gp_Pnt P = adapt.Value(i);
Base::Rotation R1;
// if orientation is used
if (UseRotation.getValue()) {
// here get the orientation of the start and end point...
// R1 = ;
}
Waypoint wp("Pt", Base::Placement(Base::Vector3d(P.X(), P.Y(), P.Z()), R1));
trac.addWaypoint(wp);
}
}
break;
}
default:
throw Base::TypeError("Unknown Edge type in Robot::Edge2TracObject::execute()");
}
}
}
Trajectory.setValue(trac);
return App::DocumentObject::StdReturn;
}
// short Edge2TracObject::mustExecute(void) const
//{
// return 0;
// }
void Edge2TracObject::onChanged(const Property* prop)
{
App::GeoFeature::onChanged(prop);
}
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