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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 <sstream>
#include <Base/MatrixPy.h>
#include <Base/PlacementPy.h>
// clang-format off
// inclusion of the generated files (generated out of Robot6AxisPy.xml)
#include "Robot6AxisPy.h"
#include "Robot6AxisPy.cpp"
// clang-format on
using namespace Robot;
// returns a string which represents the object e.g. when printed in python
std::string Robot6AxisPy::representation() const
{
std::stringstream str;
str.precision(5);
str << "<Robot6Axis "
<< "Tcp:(" << getRobot6AxisPtr()->getTcp().getPosition().x << ","
<< getRobot6AxisPtr()->getTcp().getPosition().y << ","
<< getRobot6AxisPtr()->getTcp().getPosition().z << ") "
<< "Axis:("
<< "1:" << getRobot6AxisPtr()->getAxis(0) << " "
<< "2:" << getRobot6AxisPtr()->getAxis(1) << " "
<< "3:" << getRobot6AxisPtr()->getAxis(2) << " "
<< "4:" << getRobot6AxisPtr()->getAxis(3) << " "
<< "5:" << getRobot6AxisPtr()->getAxis(4) << " "
<< "6:" << getRobot6AxisPtr()->getAxis(5) << ")";
return str.str();
}
PyObject* Robot6AxisPy::PyMake(struct _typeobject*, PyObject*, PyObject*) // Python wrapper
{
// create a new instance of Robot6AxisPy and the Twin object
return new Robot6AxisPy(new Robot6Axis);
}
// constructor method
int Robot6AxisPy::PyInit(PyObject* /*args*/, PyObject* /*kwd*/)
{
return 0;
}
PyObject* Robot6AxisPy::check(PyObject* /*args*/)
{
PyErr_SetString(PyExc_NotImplementedError, "Not yet implemented");
return nullptr;
}
Py::Float Robot6AxisPy::getAxis1() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(0));
}
void Robot6AxisPy::setAxis1(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(0, (float)arg.operator double());
}
Py::Float Robot6AxisPy::getAxis2() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(1));
}
void Robot6AxisPy::setAxis2(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(1, (float)arg.operator double());
}
Py::Float Robot6AxisPy::getAxis3() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(2));
}
void Robot6AxisPy::setAxis3(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(2, (float)arg.operator double());
}
Py::Float Robot6AxisPy::getAxis4() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(3));
}
void Robot6AxisPy::setAxis4(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(3, (float)arg.operator double());
}
Py::Float Robot6AxisPy::getAxis5() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(4));
}
void Robot6AxisPy::setAxis5(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(4, (float)arg.operator double());
}
Py::Float Robot6AxisPy::getAxis6() const
{
return Py::Float(getRobot6AxisPtr()->getAxis(5));
}
void Robot6AxisPy::setAxis6(Py::Float arg)
{
getRobot6AxisPtr()->setAxis(5, (float)arg.operator double());
}
Py::Object Robot6AxisPy::getTcp() const
{
return Py::asObject(new Base::PlacementPy(new Base::Placement(getRobot6AxisPtr()->getTcp())));
}
void Robot6AxisPy::setTcp(Py::Object value)
{
if (PyObject_TypeCheck(*value, &(Base::MatrixPy::Type))) {
Base::MatrixPy* pcObject = (Base::MatrixPy*)*value;
Base::Matrix4D mat = pcObject->value();
Base::Placement p;
p.fromMatrix(mat);
getRobot6AxisPtr()->setTo(p);
}
else if (PyObject_TypeCheck(*value, &(Base::PlacementPy::Type))) {
if (!getRobot6AxisPtr()->setTo(*static_cast<Base::PlacementPy*>(*value)->getPlacementPtr())) {
throw Base::RuntimeError("Can not reach Point");
}
}
else {
std::string error = std::string("type must be 'Matrix' or 'Placement', not ");
error += (*value)->ob_type->tp_name;
throw Py::TypeError(error);
}
}
Py::Object Robot6AxisPy::getBase() const
{
return Py::Object();
}
void Robot6AxisPy::setBase(Py::Object /*arg*/)
{}
PyObject* Robot6AxisPy::getCustomAttributes(const char* /*attr*/) const
{
return nullptr;
}
int Robot6AxisPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
{
return 0;
}
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