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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 <Base/PlacementPy.h>
// clang-format off
// inclusion of the generated files (generated out of TrajectoryPy.xml)
#include <Mod/Robot/App/TrajectoryPy.h>
#include <Mod/Robot/App/TrajectoryPy.cpp>
#include <Mod/Robot/App/WaypointPy.h>
// clang-format on
using namespace Robot;
// returns a string which represents the object e.g. when printed in python
std::string TrajectoryPy::representation() const
{
std::stringstream str;
str.precision(5);
str << "Trajectory [";
str << "size:" << getTrajectoryPtr()->getSize() << " ";
str << "length:" << getTrajectoryPtr()->getLength() << " ";
str << "duration:" << getTrajectoryPtr()->getDuration() << " ";
str << "]";
return str.str();
}
PyObject* TrajectoryPy::PyMake(struct _typeobject*, PyObject*, PyObject*) // Python wrapper
{
// create a new instance of TrajectoryPy and the Twin object
return new TrajectoryPy(new Trajectory);
}
// constructor method
int TrajectoryPy::PyInit(PyObject* args, PyObject* /*kwd*/)
{
PyObject* pcObj = nullptr;
if (!PyArg_ParseTuple(args, "|O!", &(PyList_Type), &pcObj)) {
return -1;
}
if (pcObj) {
Py::List list(pcObj);
for (Py::List::iterator it = list.begin(); it != list.end(); ++it) {
if (PyObject_TypeCheck((*it).ptr(), &(Robot::WaypointPy::Type))) {
Robot::Waypoint& wp = *static_cast<Robot::WaypointPy*>((*it).ptr())->getWaypointPtr();
getTrajectoryPtr()->addWaypoint(wp);
}
}
}
getTrajectoryPtr()->generateTrajectory();
return 0;
}
PyObject* TrajectoryPy::insertWaypoints(PyObject* args)
{
PyObject* o;
if (PyArg_ParseTuple(args, "O!", &(Base::PlacementPy::Type), &o)) {
Base::Placement* plm = static_cast<Base::PlacementPy*>(o)->getPlacementPtr();
getTrajectoryPtr()->addWaypoint(Robot::Waypoint("Pt", *plm));
getTrajectoryPtr()->generateTrajectory();
return new TrajectoryPy(new Robot::Trajectory(*getTrajectoryPtr()));
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(Robot::WaypointPy::Type), &o)) {
Robot::Waypoint& wp = *static_cast<Robot::WaypointPy*>(o)->getWaypointPtr();
getTrajectoryPtr()->addWaypoint(wp);
getTrajectoryPtr()->generateTrajectory();
return new TrajectoryPy(new Robot::Trajectory(*getTrajectoryPtr()));
// Py_Return;
}
PyErr_Clear();
if (PyArg_ParseTuple(args, "O!", &(PyList_Type), &o)) {
Py::List list(o);
for (Py::List::iterator it = list.begin(); it != list.end(); ++it) {
if (PyObject_TypeCheck((*it).ptr(), &(Robot::WaypointPy::Type))) {
Robot::Waypoint& wp = *static_cast<Robot::WaypointPy*>((*it).ptr())->getWaypointPtr();
getTrajectoryPtr()->addWaypoint(wp);
}
}
getTrajectoryPtr()->generateTrajectory();
return new TrajectoryPy(new Robot::Trajectory(*getTrajectoryPtr()));
}
Py_Error(PyExc_TypeError, "Wrong parameters - waypoint or placement expected");
}
PyObject* TrajectoryPy::position(PyObject* args)
{
double pos;
if (!PyArg_ParseTuple(args, "d", &pos)) {
return nullptr;
}
return (new Base::PlacementPy(new Base::Placement(getTrajectoryPtr()->getPosition(pos))));
}
PyObject* TrajectoryPy::velocity(PyObject* args)
{
double pos;
if (!PyArg_ParseTuple(args, "d", &pos)) {
return nullptr;
}
// return velocity as float
return Py::new_reference_to(Py::Float(getTrajectoryPtr()->getVelocity(pos)));
}
PyObject* TrajectoryPy::deleteLast(PyObject* args)
{
int n = 1;
if (!PyArg_ParseTuple(args, "|i", &n)) {
return nullptr;
}
getTrajectoryPtr()->deleteLast(n);
return new TrajectoryPy(new Robot::Trajectory(*getTrajectoryPtr()));
}
Py::Float TrajectoryPy::getDuration() const
{
return Py::Float(getTrajectoryPtr()->getDuration());
}
Py::List TrajectoryPy::getWaypoints() const
{
Py::List list;
for (unsigned int i = 0; i < getTrajectoryPtr()->getSize(); i++) {
list.append(
Py::asObject(new Robot::WaypointPy(new Robot::Waypoint(getTrajectoryPtr()->getWaypoint(i))))
);
}
return list;
}
Py::Float TrajectoryPy::getLength() const
{
return Py::Float(getTrajectoryPtr()->getLength());
}
void TrajectoryPy::setWaypoints(Py::List)
{}
PyObject* TrajectoryPy::getCustomAttributes(const char* /*attr*/) const
{
return nullptr;
}
int TrajectoryPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
{
return 0;
}
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