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EgtMachKernel :

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- aggiunta gestione macchine di tipo Robot, le altre sono ora definite di tipo Center.
This commit is contained in:
Dario Sassi
2024-02-13 11:45:05 +01:00
parent 1179ad7e84
commit 028a5b7bba
10 changed files with 1144 additions and 491 deletions
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MachMgrMachines.cpp
+20
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@@ -683,6 +683,26 @@ MachMgr::GetCurrLinAxesFrame( void) const
return pMch->GetCurrLinAxesFrame() ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCurrIsCenter( void) const
{
Machine* pMch = GetCurrMachine() ;
if ( pMch == nullptr)
return false ;
return ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_CENTER) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCurrIsRobot( void) const
{
Machine* pMch = GetCurrMachine() ;
if ( pMch == nullptr)
return false ;
return ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_ROBOT) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCalcAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,