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/***************************************************************************
* Copyright (c) 2008 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 *
* *
***************************************************************************/
#ifndef ROBOT_ROBOTOBJECT_H
#define ROBOT_ROBOTOBJECT_H
#include <App/GeoFeature.h>
#include <App/PropertyFile.h>
#include <Mod/Robot/RobotGlobal.h>
#include "Robot6Axis.h"
namespace Robot
{
class RobotExport RobotObject: public App::GeoFeature
{
PROPERTY_HEADER_WITH_OVERRIDE(Robot::RobotObject);
public:
/// Constructor
RobotObject();
/// returns the type name of the ViewProvider
const char* getViewProviderName() const override
{
return "RobotGui::ViewProviderRobotObject";
}
App::DocumentObjectExecReturn* execute() override
{
return App::DocumentObject::StdReturn;
}
short mustExecute() const override;
PyObject* getPyObject() override;
void Save(Base::Writer& /*writer*/) const override;
void Restore(Base::XMLReader& /*reader*/) override;
Robot6Axis& getRobot()
{
return robot;
}
App::PropertyFileIncluded RobotVrmlFile;
App::PropertyFileIncluded RobotKinematicFile;
App::PropertyFloat Axis1, Axis2, Axis3, Axis4, Axis5, Axis6;
App::PropertyPlacement Base;
App::PropertyPlacement Tool;
App::PropertyLink ToolShape;
App::PropertyPlacement ToolBase;
App::PropertyPlacement Tcp;
// App::PropertyPlacement Position;
App::PropertyString Error;
App::PropertyFloatList Home;
protected:
/// get called by the container when a property has changed
void onChanged(const App::Property* prop) override;
Robot6Axis robot;
bool block {false};
};
} // namespace Robot
#endif // ROBOT_ROBOTOBJECT_H
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