# 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/Robot6Axis.h",
    Namespace="Robot",
    Constructor=True,
    Delete=True,
)
class Robot6Axis(Persistence):
    """
    Robot6Axis class

    Author: Juergen Riegel (Juergen.Riegel@web.de)
    License: LGPL-2.1-or-later
    """

    def check(self) -> Any:
        """Checks the shape and report errors in the shape structure.
        This is a more detailed check as done in isValid()."""
        ...
    Axis1: float
    """Pose of Axis 1 in degrees"""

    Axis2: float
    """Pose of Axis 2 in degrees"""

    Axis3: float
    """Pose of Axis 3 in degrees"""

    Axis4: float
    """Pose of Axis 4 in degrees"""

    Axis5: float
    """Pose of Axis 5 in degrees"""

    Axis6: float
    """Pose of Axis 6 in degrees"""

    Tcp: Any
    """Tool center point frame. Where the tool of the robot is"""

    Base: Any
    """Actual Base system in respect to the robot world system"""