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985c397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | # SPDX-License-Identifier: LGPL-2.1-or-later
from __future__ import annotations
from typing import Any
from Base.Metadata import export
from Base.Persistence import Persistence
@export(
Include="Mod/Robot/App/Waypoint.h",
Namespace="Robot",
Constructor=True,
Delete=True,
)
class Waypoint(Persistence):
"""
Waypoint class
Author: Juergen Riegel (Juergen.Riegel@web.de)
License: LGPL-2.1-or-later
"""
Name: str
"""Name of the waypoint"""
Type: str
"""Type of the waypoint[PTP|LIN|CIRC|WAIT]"""
Pos: Any
"""End position (destination) of the waypoint"""
Cont: bool
"""Control the continuity to the next waypoint in the trajectory"""
Velocity: float
"""Control the velocity to the next waypoint in the trajectory
In Case of PTP 0-100% Axis speed
In Case of LIN m/s
In Case of WAIT s wait time"""
Tool: int
"""Describe which tool frame to use for that point"""
Base: int
"""Describe which Base frame to use for that point"""
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