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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 "TrajectoryDressUpObject.h"
#include "Waypoint.h"
using namespace Robot;
using namespace App;
PROPERTY_SOURCE(Robot::TrajectoryDressUpObject, Robot::TrajectoryObject)
const char* TrajectoryDressUpObject::ContTypeEnums[]
= {"DontChange", "Continues", "Discontinues", nullptr};
const char* TrajectoryDressUpObject::AddTypeEnums[] = {
"DontChange",
"UseOrientation",
"AddPosition",
"AddOrintation",
"AddPositionAndOrientation",
nullptr
};
TrajectoryDressUpObject::TrajectoryDressUpObject()
{
ADD_PROPERTY_TYPE(Source, (nullptr), "TrajectoryDressUp", Prop_None, "Trajectory to dress up");
ADD_PROPERTY_TYPE(Speed, (1000), "TrajectoryDressUp", Prop_None, "Speed to use");
ADD_PROPERTY_TYPE(UseSpeed, (0), "TrajectoryDressUp", Prop_None, "Switch the speed usage on");
ADD_PROPERTY_TYPE(Acceleration, (1000), "TrajectoryDressUp", Prop_None, "Acceleration to use");
ADD_PROPERTY_TYPE(
UseAcceleration,
(0),
"TrajectoryDressUp",
Prop_None,
"Switch the acceleration usage on"
);
ADD_PROPERTY_TYPE(
ContType,
((long)0),
"TrajectoryDressUp",
Prop_None,
"Define the dress up of continuity"
);
ContType.setEnums(ContTypeEnums);
ADD_PROPERTY_TYPE(
PosAdd,
(Base::Placement()),
"TrajectoryDressUp",
Prop_None,
"Position & Orientation to use"
);
ADD_PROPERTY_TYPE(
AddType,
((long)0),
"TrajectoryDressUp",
Prop_None,
"How to change the Position & Orientation"
);
AddType.setEnums(AddTypeEnums);
}
App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute()
{
Robot::Trajectory result;
App::DocumentObject* link = Source.getValue();
if (!link) {
return new App::DocumentObjectExecReturn("No object linked");
}
if (!link->isDerivedFrom<Robot::TrajectoryObject>()) {
return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");
}
const std::vector<Waypoint*>& wps
= static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
for (auto wp : wps) {
Waypoint wpt = *wp;
if (UseSpeed.getValue()) {
wpt.Velocity = Speed.getValue();
}
if (UseAcceleration.getValue()) {
wpt.Acceleration = Acceleration.getValue();
}
switch (ContType.getValue()) {
case 0:
break;
case 1:
wpt.Cont = true;
break;
case 2:
wpt.Cont = false;
break;
default:
assert(0); // must not happen!
}
switch (AddType.getValue()) {
// do nothing
case 0:
break;
// use orientation
case 1:
wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
break;
// add position
case 2:
wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
break;
// add orientation
case 3:
wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
break;
// add orientation & position
case 4:
wpt.EndPos = wpt.EndPos * PosAdd.getValue();
break;
default:
assert(0); // must not happen!
}
result.addWaypoint(wpt);
}
// set the resulting Trajectory to the object
Trajectory.setValue(result);
return App::DocumentObject::StdReturn;
}
void TrajectoryDressUpObject::onChanged(const Property* prop)
{
App::GeoFeature::onChanged(prop);
}
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