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EgtMachKernel :

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- corretta gestione approccio/retrazione frese notip da sotto con testa da sopra e viceversa
- prima versione della nuova gestione dei collegamenti tra lavorazioni e con cambio utensile.
This commit is contained in:
Dario Sassi
2024-12-10 17:31:46 +01:00
parent d0b78e5825
commit 646f5cf02f
9 changed files with 379 additions and 96 deletions
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MachMgr.h
+2
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@@ -456,6 +456,8 @@ class MachMgr : public IMachMgr
int GetCurrRotAxes( void) const ;
bool GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) const ;
bool GetCurrAxisHomePos( int nInd, double& dHome) const ;
bool GetCurrAxisMax( int nInd, double& dHome) const ;
bool GetCurrAxisMin( int nInd, double& dHome) const ;
const Frame3d& GetCurrLinAxesFrame( void) const ;
bool GetCurrIsCenter( void) const ;
bool GetCurrIsRobot( void) const ;
MachMgrMachines.cpp
+16
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@@ -711,6 +711,22 @@ MachMgr::GetCurrAxisHomePos( int nInd, double& dHome) const
return ( ( pMch != nullptr) ? pMch->GetCurrAxisHomePos( nInd, dHome) : false) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCurrAxisMax( int nInd, double& dMax) const
{
Machine* pMch = GetCurrMachine() ;
return ( ( pMch != nullptr) ? pMch->GetCurrAxisMax( nInd, dMax) : false) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCurrAxisMin( int nInd, double& dMin) const
{
Machine* pMch = GetCurrMachine() ;
return ( ( pMch != nullptr) ? pMch->GetCurrAxisMin( nInd, dMin) : false) ;
}
//----------------------------------------------------------------------------
const Frame3d&
MachMgr::GetCurrLinAxesFrame( void) const
Machine.cpp
+1
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@@ -42,6 +42,7 @@ Machine::Machine( void)
m_dExitMaxRotAdj = 10 * EPS_ANG_SMALL ;
m_dAngDeltaMinForHome = INFINITO ;
m_nMultiProcess = 0 ;
m_nNewLinkMgr = 0 ;
m_nCalcTabId = GDB_ID_NULL ;
m_nCalcHeadId = GDB_ID_NULL ;
m_nCalcExitId = GDB_ID_NULL ;
Machine.h
+5 -2
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@@ -86,6 +86,8 @@ class Machine
{ return m_dAngDeltaMinForHome ; }
bool GetMultiProcess( int nOpt = 1) const
{ return ( m_nMultiProcess >= nOpt) ; }
bool GetNewLinkMgr( int nOpt = 1) const
{ return ( m_nNewLinkMgr >= nOpt) ; }
bool LoadTool( const std::string& sHead, int nExit, const std::string& sTool) ;
bool GetLoadedTool( const std::string& sHead, int nExit, std::string& sTool) const ;
bool UnloadTool( const std::string& sHead, int nExit) ;
@@ -176,7 +178,7 @@ class Machine
bool VerifyAngleOutstroke( int nInd, double dAng) const ;
bool VerifyOutstroke( double dX, double dY, double dZ, const DBLVECTOR& vAng, bool bClear, int& nStat) const ;
bool ExistProtectedAreas( void) const ;
bool VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR& vAng, int& nStat) ;
bool VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR& vAng, bool bIsLink, int& nStat) ;
bool VerifyOutstroke( const std::string& sAxName, double dVal) const ;
std::string GetOutstrokeInfo( bool bMM = true) const ;
void ResetOutstrokeInfo( void) const
@@ -295,7 +297,8 @@ class Machine
double m_dExitMaxAdjust ; // massimo aggiustamento uscita da geometria a descrizione cinematica
double m_dExitMaxRotAdj ; // massima rotazione di aggiustamento uscita da geometria a descrizione cinematica
double m_dAngDeltaMinForHome ; // minima differenza angolare da valore precedente per scegliere di stare vicino a home
int m_nMultiProcess ; // flag di macchina multi-processo con stima speciale prima di generazione e simulazione ad hoc
int m_nMultiProcess ; // codice di macchina multi-processo (con stima speciale e simulazione ad hoc)
int m_nNewLinkMgr ; // codice del nuovo gestore link tra lavorazioni (0=vecchio, 1=nuovo)
INTVECTOR m_vLinkedRawParts ; // elenco dei grezzi agganciati a gruppi della macchina
INTVECTOR m_vLinkedFixtures ; // elenco dei bloccaggi agganciati a gruppi della macchina
INTVECTOR m_vLinkedParts ; // elenco dei pezzi agganciati a gruppi della macchina
MachineCalc.cpp
+4 -2
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@@ -48,6 +48,7 @@ static const string EVAR_R1 = ".R1" ; // (num) valore del pri
static const string EVAR_R2 = ".R2" ; // (num) valore del secondo asse rotante
static const string EVAR_R3 = ".R3" ; // (num) valore del terzo asse rotante
static const string EVAR_R4 = ".R4" ; // (num) valore del quarto asse rotante
static const string EVAR_ISLINK = ".ISLINK" ; // (bool) flag per indicare controllo posizioni in un link
static const string EVAR_ERROR = ".ERR" ; // OUT (int) codice di errore ( 0 = ok)
static const string EVAR_STAT = ".STAT" ; // OUT (int) codice di stato ( 0 = ok)
static const string EVAR_AUXINFO = ".AUXINFO" ; // OUT (string) stringa con info ausiliarie
@@ -1718,7 +1719,7 @@ Machine::VerifyOutstroke( double dX, double dY, double dZ, const DBLVECTOR& vAng
}
// verifica delle aree protette
if ( nStat == 0)
return const_cast<Machine*>( this)->VerifyProtectedAreas( dX, dY, dZ, vAng, nStat) ;
return const_cast<Machine*>( this)->VerifyProtectedAreas( dX, dY, dZ, vAng, false, nStat) ;
return true ;
}
@@ -1732,7 +1733,7 @@ Machine::VerifyOutstroke( double dX, double dY, double dZ, const DBLVECTOR& vAng
//----------------------------------------------------------------------------
bool
Machine::VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR& vAng, int& nStat)
Machine::VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR& vAng, bool bIsLink, int& nStat)
{
// se non esiste funzione gestione aree protette, non devo fare alcunchè
if ( ! LuaExistsFunction( ON_VERIFY_PROTECTEDAREAS))
@@ -1756,6 +1757,7 @@ Machine::VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR&
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_R3, vAng[2]) ;
if ( vAng.size() >= 4)
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_R4, vAng[3]) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_ISLINK, bIsLink) ;
// chiamo funzione
bOk = bOk && LuaCallFunction( ON_VERIFY_PROTECTEDAREAS) ;
// recupero il risultato
MachineLua.cpp
+8 -1
View File
@@ -37,6 +37,7 @@ static const string FLD_EXITMAXADJUST = "ExitMaxAdjust" ;
static const string FLD_EXITMAXROTADJ = "ExitMaxRotAdj" ;
static const string FLD_ANGDELTAMINFORHOME = "AngDeltaMinForHome" ;
static const string FLD_MULTIPROCESS = "MultiProcess" ;
static const string FLD_NEWLINKMGR = "NewLinkMgr" ;
static const string FLD_NAME = "Name" ;
static const string FLD_PARENT = "Parent" ;
static const string FLD_GEO = "Geo" ;
@@ -350,6 +351,10 @@ Machine::LuaEmtGeneral( lua_State* L)
// lettura eventuale campo 'MultiProcess' dalla tabella (0=no, 1=si, 2=si con simulazione MP)
int nMultiProcess = 0 ;
LuaGetTabFieldParam( L, 1, FLD_MULTIPROCESS, nMultiProcess) ;
// lettura eventuale campo 'NewLinkMgr' dalla tabella (0=old, 1 =new)
int nNewLinkMgr = 0 ;
LuaGetTabFieldParam( L, 1, FLD_NEWLINKMGR, nNewLinkMgr) ;
// pulizia stack
LuaClearStack( L) ;
// info
@@ -399,8 +404,10 @@ Machine::LuaEmtGeneral( lua_State* L)
// imposto minima differenza angolare da posizione precedente per stare vivino a posizione home
m_pMchLua->m_dAngDeltaMinForHome = dAngDeltaMinForHome ;
// imposto flag per macchina multiprocesso
// imposto codice per macchina multiprocesso
m_pMchLua->m_nMultiProcess = nMultiProcess ;
// imposto codice per gestione link tra lavorazioni
m_pMchLua->m_nNewLinkMgr = nNewLinkMgr ;
return 0 ;
}
Milling.cpp
+10 -10
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@@ -2393,12 +2393,12 @@ Milling::AddStandardMilling( const ICurveComposite* pCompo, const Vector3d& vtTo
bool bSideStart = false ;
if ( ! bGeomAboveStart) {
bAhUnderStart = m_bAboveHead && GetAhPointUnderRaw( ptP1 + vtWkTip, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtAppr, dSawStartElev) ;
}
else {
bUhAboveStart = ! m_bAboveHead && GetUhPointAboveRaw( ptP1 + vtWkTip, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtAppr, dSawStartElev) ;
}
// se non sono sotto, verifico se posso allontanarmi nel piano lama (meglio se in orizzontale)
@@ -2581,12 +2581,12 @@ Milling::AddStandardMilling( const ICurveComposite* pCompo, const Vector3d& vtTo
bool bSideEnd = false ;
if ( ! bGeomAboveEnd) {
bAhUnderEnd = m_bAboveHead && GetAhPointUnderRaw( ptP1 + vtWkTip, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( true),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtRetr, dSawEndElev) ;
}
else {
bUhAboveEnd = ! m_bAboveHead && GetUhPointAboveRaw( ptP1 + vtWkTip, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( true),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtRetr, dSawEndElev) ;
}
if ( ! bAhUnderEnd && ! bUhAboveEnd) {
@@ -2768,7 +2768,7 @@ Milling::AddZigZagMilling( const ICurveComposite* pCompo, const Vector3d& vtTool
bool bSideStart = false ;
if ( ! bGeomAboveStart) {
bUnderStart = m_bAboveHead && GetAhPointUnderRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtAppr, dSawStartElev) ;
}
@@ -2937,7 +2937,7 @@ Milling::AddZigZagMilling( const ICurveComposite* pCompo, const Vector3d& vtTool
bool bSideEnd = false ;
if ( ! bGeomAboveEnd) {
bUnderEnd = m_bAboveHead && GetAhPointUnderRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtRetr, dSawEndElev) ;
}
if ( ! bUnderEnd) {
@@ -3237,12 +3237,12 @@ Milling::AddOneWayMilling( const ICurveComposite* pCompo, const Vector3d& vtTool
bool bSideStart = false ;
if ( ! bGeomAboveStart) {
bAhUnderStart = m_bAboveHead && GetAhPointUnderRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtAppr, dSawStartElev) ;
}
else {
bUhAboveStart = ! m_bAboveHead && GetUhPointAboveRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtAppr, dSawStartElev) ;
}
// se non sono sotto, verifico se posso allontanarmi nel piano lama (meglio se in orizzontale)
@@ -3428,12 +3428,12 @@ Milling::AddOneWayMilling( const ICurveComposite* pCompo, const Vector3d& vtTool
bool bSideEnd = false ;
if ( ! bGeomAboveEnd) {
bAhUnderEnd = m_bAboveHead && GetAhPointUnderRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtRetr, dSawEndElev) ;
}
else {
bUhAboveEnd = ! m_bAboveHead && GetUhPointAboveRaw( ptP1, vtTool, m_TParams.m_dTDiam / 2,
GetRadiusForStartEndElevation( false),
GetRadiusForStartEndElevation(),
m_TParams.m_dLen, true, dSafeZ, vtRetr, dSawEndElev) ;
}
if ( ! bAhUnderEnd && ! bUhAboveEnd) {
Operation.cpp
+314 -75
View File
@@ -2580,7 +2580,8 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr || m_pMchMgr->GetCurrMachine() == nullptr)
return false ;
// recupero gruppo della geometria di lavorazione (Cutter Location)
// recupero gruppo della geometria di lavorazione (Cutter Location)
int nClId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, MCH_CL) ;
if ( nClId == GDB_ID_NULL)
return false ;
@@ -2601,10 +2602,17 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
if ( pPrevOp != nullptr && ! pPrevOp->IsEmpty())
sPrevTool = pPrevOp->GetToolName() ;
// flag nuova gestione collegamenti tra lavorazioni
bool bNewLink = m_pMchMgr->GetCurrMachine()->GetNewLinkMgr() ;
// flag per CLIMB a inizio percorso già gestito
bool bClimbDone = false ;
// determino posizione precedente assi
DBLVECTOR vAxVal ;
bool bMaxZ = false ;
// se primo utensile o richiesto, uso la posizione home
// *** Se primo utensile o richiesto, uso la posizione home
if ( sPrevTool.empty() || NeedPrevHome()) {
// imposto l'utensile per i calcoli macchina
if ( ! m_pMchMgr->SetCalcTool( GetToolName(), GetHeadName(), GetExitNbr()))
@@ -2614,8 +2622,19 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
return false ;
// si parte da Z massima
bMaxZ = true ;
// per nuova gestione collegamenti, verifica aree protette
if ( bVerifyPreviousLink && bNewLink && m_pMchMgr->GetCurrIsCenter()) {
// recupero posizione iniziale lavorazione
DBLVECTOR vAxIni ;
if ( ! GetInitialAxesValues( true, vAxIni))
return false ;
// eseguo verifica
if ( ! ManageProtectedAreas( vAxVal, vAxIni, nullptr, this, bClimbDone))
return false ;
}
}
// se utensile non cambiato o su diversa uscita della stessa testa, uso posizione finale della lavorazione precedente
// *** Se utensile non cambiato o su diversa uscita della stessa testa, uso posizione finale della lavorazione precedente
else if ( ! ToolChangeNeeded( *pPrevOp, *this)) {
// imposto l'utensile per i calcoli macchina
if ( ! m_pMchMgr->SetCalcTool( GetToolName(), GetHeadName(), GetExitNbr()))
@@ -2628,7 +2647,7 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
if ( ! pPrevOp->GetFinalAxesValues( false, vAxVal))
return false ;
// elimino eventuali CLIMB già presenti
RemoveClimb( m_pGeomDB->GetFirstGroupInGroup( nClId)) ;
RemoveClimb() ;
// recupero posizione iniziale lavorazione
DBLVECTOR vAxIni ;
if ( ! GetInitialAxesValues( false, vAxIni))
@@ -2637,7 +2656,7 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
if ( m_pMchMgr->GetCurrIsCenter()) {
// recupero se ZHome è in basso
bool bZHomeDown = GetZHomeDown() ;
// recupero quota di home in Z
// recupero quote home e max di Z
double dHomeZ ;
if ( ! m_pMchMgr->GetCurrAxisHomePos( 2, dHomeZ))
return false ;
@@ -2645,13 +2664,13 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
double dDeltaZ = ( vAxIni[2] - vAxVal[2]) ;
if ( ( ! bZHomeDown && dDeltaZ > 100 * EPS_SMALL && vAxIni[2] <= dHomeZ) ||
( bZHomeDown && dDeltaZ < -100 * EPS_SMALL && vAxIni[2] >= dHomeZ)) {
if ( ! pPrevOp->AddRise( vAxVal, dDeltaZ, GDB_ID_NULL, bZHomeDown))
if ( ! pPrevOp->AddRise( vAxVal, dDeltaZ))
return false ;
// aggiorno quota in Z della posizione iniziale ( anche se verrà aggiornata solo in seguito)
vAxIni[2] = vAxVal[2] ;
}
// Verifico non ci sia collisione a HomeZ
bool bToZmax = false ;
bool bToMaxZ = false ;
bool bToMyHomeZ = false ;
DBLVECTOR vAxVal2 = vAxVal ; vAxVal2[2] = dHomeZ ;
DBLVECTOR vAxIni2 = vAxIni ; vAxIni2[2] = dHomeZ ;
@@ -2670,10 +2689,10 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
bToMyHomeZ = true ;
}
else
bToZmax = true ;
bToMaxZ = true ;
}
else
bToZmax = true ;
bToMaxZ = true ;
}
// se altrimenti ammessa rotazione a Zmax e richiesta rotazione
else if ( GetRotationAtZmax() &&
@@ -2706,11 +2725,11 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
// non devo fare alcunché
}
// se altrimenti richiesta risalita a Zmax
else if ( bToZmax || ForcedZmax( vAxVal, vAxIni, b3Raws)) {
else if ( bToMaxZ || ForcedZmax( vAxVal, vAxIni, b3Raws)) {
// cancello eventuale risalita parziale della lavorazione precedente
pPrevOp->RemoveRise() ;
// aggiungo risalita a Zmax
if ( ! pPrevOp->AddRise( vAxVal))
// aggiungo risalita a HomeZ/MaxZ
if ( ! pPrevOp->AddRise( vAxVal, NAN, GDB_ID_NULL, ( bNewLink ? ( bZHomeDown ? -1 : +1) : 0)))
return false ;
// si parte da Z massima
bMaxZ = true ;
@@ -2771,42 +2790,15 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
pPrevOp->GetFinalAxesValues( false, vAxVal) ;
// aggiungo risalita a Zsafe
double dDelta = ( ! bZHomeDown ? max( dSafeZ - vAxVal[2], 0.) : min( dSafeZ - vAxVal[2], 0.)) ;
if ( ! pPrevOp->AddRise( vAxVal, dDelta, GDB_ID_NULL, bZHomeDown))
if ( ! pPrevOp->AddRise( vAxVal, dDelta))
return false ;
// aggiorno quota iniziale in Z
vAxIni[2] = dSafeZ ;
}
}
// se ci sono aree protette...
if ( m_pMchMgr->GetCurrMachine()->ExistProtectedAreas()) {
// verifico se il collegamento le attraversa
const double PA_VERIF_LEN = 10 ;
Point3d ptStart( vAxVal[0], vAxVal[1], vAxVal[2]) ;
Point3d ptEnd( vAxIni[0], vAxIni[1], vAxIni[2]) ;
double dLen = DistXY( ptStart, ptEnd) ;
int nStep = int( dLen / PA_VERIF_LEN + 1) ;
bool bOutstroke = false ;
for ( int i = 1 ; i < nStep ; ++ i) {
Point3d ptCurr = Media( ptStart, ptEnd, double( i) / nStep) ;
int nStat = 0 ;
if ( ! m_pMchMgr->GetCurrMachine()->VerifyProtectedAreas( ptCurr.x, ptCurr.y, ptCurr.z, {}, nStat) || nStat != 0) {
bOutstroke = true ;
break ;
}
}
// in caso di attraversamento dell'area proibita
if ( bOutstroke) {
// chiamo funzione script OnSpecialRapidMove per avere nuovo punto intermedio
DBLVECTOR vAxNew ;
bool bModif = false ;
bool bOk = ( SpecialMoveRapid( vAxVal, vAxIni, vAxNew, bModif) && bModif) ;
// inserisco il nuovo punto alla fine della lavorazione precedente
if ( bOk)
vAxVal = vAxNew ;
if ( ! pPrevOp->AddSpecialRise( vAxVal, bOk))
return false ;
}
}
// gestione eventuali aree protette
if ( ! ManageProtectedAreas( vAxVal, vAxIni, pPrevOp, this, bClimbDone))
return false ;
}
// se robot
else if ( m_pMchMgr->GetCurrIsRobot()) {
@@ -2857,7 +2849,8 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
return false ;
}
}
// altrimenti aggiungo uscita per cambio utensile alla lavorazione precedente e parto da questa
// *** Altrimenti aggiungo uscita per cambio utensile alla lavorazione precedente e parto da questa
else {
// imposto la lavorazione precedente come corrente
m_pMchMgr->SetCurrMachining( pPrevOp->GetOwner()) ;
@@ -2869,18 +2862,39 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
if ( ! pPrevOp->AddRise( vAxVal))
return false ;
}
else {
// per nuova gestione collegamenti, verifica aree protette
if ( bVerifyPreviousLink && bNewLink && m_pMchMgr->GetCurrIsCenter()) {
// recupero posizione finale lavorazione
if ( ! GetFinalAxesValues( true, vAxVal))
return false ;
// recupero posizione home
if ( ! m_pMchMgr->GetAllCurrAxesHomePos( vAxVal))
DBLVECTOR vAxIni ;
if ( ! m_pMchMgr->GetAllCurrAxesHomePos( vAxIni))
return false ;
if ( ! ManageProtectedAreas( vAxVal, vAxIni, this, nullptr, bClimbDone))
return false ;
}
// ripristino la lavorazione corrente
m_pMchMgr->SetCurrMachining( GetOwner()) ;
// imposto l'utensile per i calcoli macchina
if ( ! m_pMchMgr->SetCalcTool( GetToolName(), GetHeadName(), GetExitNbr()))
return false ;
// recupero posizione home
if ( ! m_pMchMgr->GetAllCurrAxesHomePos( vAxVal))
return false ;
// si parte da Z massima
bMaxZ = true ;
// per nuova gestione collegamenti, verifica aree protette
if ( bVerifyPreviousLink && bNewLink && m_pMchMgr->GetCurrIsCenter()) {
// recupero posizione iniziale lavorazione
DBLVECTOR vAxIni ;
if ( ! GetInitialAxesValues( true, vAxIni))
return false ;
// eseguo verifica
if ( ! ManageProtectedAreas( vAxVal, vAxIni, nullptr, this, bClimbDone))
return false ;
}
}
// aggiusto l'inizio di ogni percorso di lavoro
@@ -2889,8 +2903,8 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
int nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
while ( bOk && nClPathId != GDB_ID_NULL) {
// se richiesta verifica collegamento con lavorazione precedente, sistemo inizio
if ( bVerifyPreviousLink) {
if ( ! AdjustOneStartMovement( nClPathId, nPrevClPathId, pPrevOp, vAxVal, bMaxZ))
if ( bVerifyPreviousLink && ( ! bClimbDone || nPrevClPathId != GDB_ID_NULL)) {
if ( ! AdjustOneStartEndMovement( nClPathId, nPrevClPathId, pPrevOp, vAxVal, bMaxZ))
bOk = false ;
}
bMaxZ = false ;
@@ -2904,8 +2918,20 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
pPrevOp = nullptr ;
}
// aggiungo risalita finale
// Aggiungo risalita finale
bOk = bOk && AddRise( vAxVal) ;
// per nuova gestione collegamenti, verifica aree protette
if ( bVerifyPreviousLink && bNewLink && m_pMchMgr->GetCurrIsCenter()) {
// recupero posizione finale lavorazione
if ( ! GetFinalAxesValues( true, vAxVal))
return false ;
// recupero posizione home
DBLVECTOR vAxIni ;
if ( ! m_pMchMgr->GetAllCurrAxesHomePos( vAxIni))
return false ;
if ( ! ManageProtectedAreas( vAxVal, vAxIni, this, nullptr, bClimbDone))
return false ;
}
// se ultima operazione o la successiva lo richiede, vado in home
int nNextOpId = m_pMchMgr->GetNextActiveOperation( m_nOwnerId) ;
@@ -2918,7 +2944,98 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
//----------------------------------------------------------------------------
bool
Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ)
Operation::ManageProtectedAreas( const DBLVECTOR& vAxVal, const DBLVECTOR& vAxIni, Operation* pPrevOp, Operation* pNextOp,
bool& bClimbDone)
{
// se non ci sono aree protette, esco subito.
if ( ! m_pMchMgr->GetCurrMachine()->ExistProtectedAreas())
return true ;
// flag nuova gestione collegamenti tra lavorazioni
bool bNewLink = m_pMchMgr->GetCurrMachine()->GetNewLinkMgr() ;
// verifico se il collegamento le attraversa
const double PA_VERIF_LEN = 10 ;
Point3d ptStart( vAxVal[0], vAxVal[1], vAxVal[2]) ;
Point3d ptEnd( vAxIni[0], vAxIni[1], vAxIni[2]) ;
double dLen = DistXY( ptStart, ptEnd) ;
int nStep = int( dLen / PA_VERIF_LEN + 1) ;
bool bOutstroke = false ;
for ( int i = 0 ; i <= nStep ; ++ i) {
double dCoeff = double( i) / nStep ;
Point3d ptCurr = Media( ptStart, ptEnd, dCoeff) ;
DBLVECTOR vAng ;
int nRotAxisNum = int( vAxVal.size()) - 3 ;
if ( bNewLink && nRotAxisNum > 0) {
vAng.resize( nRotAxisNum) ;
for ( int j = 0 ; j < nRotAxisNum ; ++ j)
vAng[j] = ( 1 - dCoeff) * vAxVal[j+3] + dCoeff * vAxIni[j+3] ;
}
int nStat = 0 ;
if ( ! m_pMchMgr->GetCurrMachine()->VerifyProtectedAreas( ptCurr.x, ptCurr.y, ptCurr.z, vAng, true, nStat) || nStat != 0) {
bOutstroke = true ;
break ;
}
}
if ( ! bOutstroke)
return true ;
// chiamo funzione script OnSpecialRapidMove per avere posizioni di movimento
int nLinkType = 0 + ( pPrevOp == nullptr ? 0 : 1) + ( pNextOp == nullptr ? 0 : 2) ;
POSVECTOR vPosNew ;
bool bModif = false ;
int nErase = 0 ;
bool bOk = ( SpecialMoveRapid( vAxVal, vAxIni, nLinkType, vPosNew, bModif, nErase) && bModif) ;
// se tutto bene, eseguo cancellazioni e einserimenti come richiesto
if ( bOk) {
// eventuali cancellazioni
if ( ( nErase & 1) != 0) {
if ( pPrevOp == nullptr)
return false ;
pPrevOp->RemoveRise() ;
}
if ( ( nErase & 2) != 0) {
if ( pNextOp == nullptr)
return false ;
pNextOp->RemoveClimb() ;
bClimbDone = true ;
}
// eventuali inserimenti
for ( const auto& PosNew : vPosNew) {
if ( PosNew.nSide == -1) {
if ( pPrevOp == nullptr)
return false ;
if ( ! pPrevOp->AddSpecialRise( PosNew.vAxis, true, GDB_ID_NULL, PosNew.nFlag, PosNew.nFlag2))
return false ;
}
else {
if ( pNextOp == nullptr)
return false ;
if ( ! pNextOp->AddSpecialClimb( PosNew.vAxis, true, GDB_ID_NULL, PosNew.nFlag, PosNew.nFlag2))
return false ;
}
}
}
// altrimenti eseguo inserimento con segnalazione di errore
else {
if ( pPrevOp != nullptr) {
if ( ! pPrevOp->AddSpecialRise( vAxVal, false))
return false ;
}
else if ( pNextOp != nullptr) {
if ( ! pNextOp->AddSpecialClimb( vAxIni, false))
return false ;
}
else
return false ;
}
return true ;
}
//----------------------------------------------------------------------------
bool
Operation::AdjustOneStartEndMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
@@ -2988,7 +3105,7 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
// se altrimenti robot
else if ( m_pMchMgr->GetCurrIsRobot()) {
// inserisco la posizione iniziale a Zmax
if ( ! AddRobotClimb( nEntId, -1))
if ( ! AddRobotClimb( nEntId))
return false ;
}
}
@@ -3050,12 +3167,12 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
DBLVECTOR vAxPrevNoRise ;
pPrevOp->GetFinalAxesValues( false, vAxPrevNoRise) ;
double dDelta = ( ! bZHomeDown ? max( dSafeZ - vAxPrevNoRise[2], 0.) : min( dSafeZ - vAxPrevNoRise[2], 0.)) ;
if ( ! pPrevOp->AddRise( vAxNew1, dDelta, GDB_ID_NULL, bZHomeDown))
if ( ! pPrevOp->AddRise( vAxNew1, dDelta))
return false ;
}
else {
double dDelta = ( ! bZHomeDown ? max( dSafeZ - vAxPrev[2], 0.) : min( dSafeZ - vAxPrev[2], 0.)) ;
if ( ! AddRise( vAxNew1, dDelta, nPrevClPathId, bZHomeDown))
if ( ! AddRise( vAxNew1, dDelta, nPrevClPathId))
return false ;
}
// aggiungo posizione elevata prima dell'inizio del percorso corrente
@@ -3107,7 +3224,7 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
// aggiungo risalita alla fine del precedente percorso
DBLVECTOR vAxNew ;
double dDelta = ( ! bZHomeDown ? max( vAxCurr[2] - vAxPrev[2], 0.) : min( vAxCurr[2] - vAxPrev[2], 0.)) ;
if ( ! AddRise( vAxNew, dDelta, nPrevClPathId, bZHomeDown))
if ( ! AddRise( vAxNew, dDelta, nPrevClPathId))
return false ;
}
// altrimenti Z corrente minore della precedente
@@ -3227,11 +3344,11 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
// eventuali risalite finali già eliminate dal chiamante
// aggiungo risalita a Z max alla fine del percorso precedente
DBLVECTOR vAxNew = vAxPrev ;
if ( ! AddRise( vAxNew, -1, nPrevClPathId))
if ( ! AddRise( vAxNew, NAN, nPrevClPathId))
return false ;
}
// inserisco la posizione iniziale a Zmax in questo percorso
if ( ! AddRobotClimb( nEntId, -1))
if ( ! AddRobotClimb( nEntId))
return false ;
}
}
@@ -3259,12 +3376,83 @@ Operation::ToolChangeNeeded( const Operation& Op1, const Operation& Op2) const
return true ;
}
//----------------------------------------------------------------------------
bool
Operation::AddSpecialClimb( const DBLVECTOR& vAxVal, bool bOk, int nClPathId, int nFlag, int nFlag2)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
// recupero gruppo per geometria di lavorazione (Cutter Location)
int nClId = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_CL) ;
if ( nClId == GDB_ID_NULL)
return false ;
// se percorso CL specificato, verifico appartenga al gruppo sopra ricavato
if ( nClPathId != GDB_ID_NULL) {
if ( m_pGeomDB->GetParentId( nClPathId) != nClId)
return false ;
}
// altrimenti, recupero il primo percorso CL della operazione
else {
nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
if ( nClPathId == GDB_ID_NULL)
return false ;
}
// recupero la prima entità del percorso
int nEntId = m_pGeomDB->GetFirstInGroup( nClPathId) ;
if ( nEntId == GDB_ID_NULL)
return false ;
// ne recupero i dati Cam
CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
if ( pCamData == nullptr)
return false ;
// creo oggetto punto per DB geometrico
PtrOwner<IGeoPoint3d> pGP( CreateGeoPoint3d()) ;
if ( IsNull( pGP))
return false ;
// assegno le coordinate del punto
pGP->Set( pCamData->GetEndPoint()) ;
// inserisco l'oggetto nel DB geometrico all'inizio del percorso
int nId = m_pGeomDB->InsertGeoObj( GDB_ID_NULL, nEntId, GDB_BEFORE, Release( pGP)) ;
if ( nId == GDB_ID_NULL)
return false ;
m_pGeomDB->SetName( nId, MCH_CL_CLIMB) ;
// creo oggetto dati Cam da associare al punto
PtrOwner<CamData> pCam( pCamData->Clone()) ;
if ( IsNull( pCam))
return false ;
// assegno i dati
pCam->SetAxes( ( bOk ? CamData::AS_OK : CamData::AS_OUTSTROKE), vAxVal) ;
pCam->SetMoveType( 0) ;
pCam->SetFeed( 0) ;
pCam->SetFlag( nFlag) ;
pCam->SetFlag2( nFlag2) ;
// associo questo oggetto a quello geometrico
m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
return true ;
}
//----------------------------------------------------------------------------
bool
Operation::RemoveClimb( int nClPathId)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
// recupero gruppo per geometria di lavorazione (Cutter Location)
int nClId = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_CL) ;
if ( nClId == GDB_ID_NULL)
return false ;
// se percorso CL specificato, verifico appartenga al gruppo sopra ricavato
if ( nClPathId != GDB_ID_NULL) {
if ( m_pGeomDB->GetParentId( nClPathId) != nClId)
return false ;
}
// altrimenti, recupero il primo percorso CL della operazione
else {
nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
if ( nClPathId == GDB_ID_NULL)
return false ;
}
// elimino tutte le entità CLIMB all'inizio del percorso
int nId = m_pGeomDB->GetFirstNameInGroup( nClPathId, MCH_CL_CLIMB) ;
while ( nId != GDB_ID_NULL) {
@@ -3277,7 +3465,7 @@ Operation::RemoveClimb( int nClPathId)
//----------------------------------------------------------------------------
bool
Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, bool bZHomeDown)
Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, int nToMinMaxZ)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
@@ -3336,17 +3524,22 @@ Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, bool bZHome
// devono esserci almeno i tre assi lineari
if ( vAxVal.size() < 3)
return false ;
// se delta positivo lo uso come incremento di Z
if ( dDelta > 0 || bZHomeDown) {
// se delta definito lo uso come incremento di Z
if ( isfinite( dDelta)) {
vAxVal[2] += dDelta ;
nFlag = 0 ; // movimento standard
}
// altrimenti uso la Z home
// altrimenti uso HomeZ/MinZ/MaxZ
else {
// recupero posizione home
DBLVECTOR vAxHome ;
m_pMchMgr->GetAllCurrAxesHomePos( vAxHome) ;
vAxVal[2] = vAxHome[2] ;
// recupero posizione Z
double dExtrZ ;
if ( nToMinMaxZ == -1)
m_pMchMgr->GetCurrAxisMin( 2, dExtrZ) ;
else if ( nToMinMaxZ == +1)
m_pMchMgr->GetCurrAxisMax( 2, dExtrZ) ;
else
m_pMchMgr->GetCurrAxisHomePos( 2, dExtrZ) ;
vAxVal[2] = dExtrZ ;
nFlag = 3 ; // movimento a Zmax
nFlag2 = 1 ;
}
@@ -3434,7 +3627,7 @@ Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, bool bZHome
//----------------------------------------------------------------------------
bool
Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId, int nFlag)
Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId, int nFlag, int nFlag2)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
@@ -3481,7 +3674,7 @@ Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId, int
pCam->SetMoveType( 0) ;
pCam->SetFeed( 0) ;
pCam->SetFlag( nFlag) ;
pCam->SetFlag2( 0) ;
pCam->SetFlag2( nFlag2) ;
// associo questo oggetto a quello geometrico
m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
@@ -3623,7 +3816,7 @@ Operation::AddRobotClimb( int nEntId, double dDeltaZ)
return false ;
DBLVECTOR vAxVal = pCdEnt->GetAxesVal() ;
// verifico se richiesta Zmax
bool bZmax = ( dDeltaZ < 0) ;
bool bZmax = ( ! isfinite( dDeltaZ)) ;
// calcolo la posizione sopra il punto a Z richiesta
DBLVECTOR vAxClimb = vAxVal ;
double dNewDeltaZ ;
@@ -4514,16 +4707,22 @@ Operation::SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nF
//----------------------------------------------------------------------------
bool
Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, DBLVECTOR& vAxNew, bool& bModif)
Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, int nLinkType,
POSVECTOR& vNewPos, bool& bModif, int& nErase)
{
// recupero la macchina corrente
Machine* pMch = ( m_pMchMgr != nullptr ? m_pMchMgr->GetCurrMachine() : nullptr) ;
if ( pMch == nullptr)
return false ;
// costanti
static const string EMC_VAR = "EMC" ; // tabella variabili locali per calcolo
static const string EVAR_ERROR = ".ERR" ; // OUT (int) codice di errore ( 0 = ok)
static const string EVAR_MODIF = ".MODIF" ; // OUT (bool) flag di modifica effettuata
static const string EMC_VAR = "EMC" ; // tabella variabili locali per calcolo
static const string EVAR_LINKTYPE = ".LINKTYPE" ; // IN (int) codice tipo collegamento (1=FinePrec, 2=InizioSucc, 3=Entrambi))
static const string EVAR_ERROR = ".ERR" ; // OUT (int) codice di errore ( 0 = ok)
static const string EVAR_MODIF = ".MODIF" ; // OUT (bool) flag di modifica effettuata
static const string EVAR_ERASE = ".ERASE" ; // OUT (int) codice di rimozione movimenti RISE/CLIMB
static const string EVAR_POSTOT = ".POSTOT" ; // OUT (int) numero di nuove posizioni
static const string EVAR_POS = ".POS" ; // OUT (table) vettore di posizioni
static const string EVAR_SIDE = ".SIDE" ; // OUT (int) codice inserimento movimento (-1=prec, 1=curr)
static const string ON_SPECIAL_MOVERAPID = "OnSpecialMoveRapid" ;
// eseguo l'azione
@@ -4536,6 +4735,8 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_HEAD, GetHeadName()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_EXIT, GetExitNbr()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TCPOS, GetToolTcPos()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_MCHID, GetOwner()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_LINKTYPE, nLinkType) ;
// valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( vAxStart.size()) ;
@@ -4548,11 +4749,48 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
// recupero valori parametri obbligatori
bOk = bOk && pMch->LuaGetGlobVar( EMC_VAR + EVAR_ERROR, nErr) ;
bOk = bOk && pMch->LuaGetGlobVar( EMC_VAR + EVAR_MODIF, bModif) ;
vAxNew.resize( nNumAxes) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAxNew[i-1]) ;
// recupero i parametri facoltativi
if ( ! pMch->LuaGetGlobVar( EMC_VAR + EVAR_ERASE, nErase))
nErase = 0 ;
int nPosTot ;
if ( ! pMch->LuaGetGlobVar( EMC_VAR + EVAR_POSTOT, nPosTot))
nPosTot = -1 ;
// recupero gli assi
vNewPos.clear() ;
if ( nPosTot == -1) {
vNewPos.resize( 1) ;
vNewPos[0].vAxis.resize( nNumAxes) ;
for ( int i = 1 ; i <= nNumAxes && bOk ; ++ i) {
if ( ! pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vNewPos[0].vAxis[i-1])) {
nErr = 91 ;
break ;
}
}
}
else {
for ( int j = 1 ; j <= nPosTot && bOk ; ++ j) {
string sRec = EMC_VAR + EVAR_POS + "." + ToString( j) ;
Position CurrPos ;
if ( ! pMch->LuaGetGlobVar( sRec + EVAR_SIDE, CurrPos.nSide)) {
nErr = 92 ;
break ;
}
CurrPos.vAxis.resize( nNumAxes) ;
for ( int i = 1 ; i <= nNumAxes && bOk ; ++ i) {
if ( ! pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, sRec, bIsRobot), CurrPos.vAxis[i-1])) {
nErr = 93 ;
break ;
}
}
if ( ! pMch->LuaGetGlobVar( sRec + GVAR_FLAG, CurrPos.nFlag))
CurrPos.nFlag = 0 ;
if ( ! pMch->LuaGetGlobVar( sRec + GVAR_FLAG2, CurrPos.nFlag2))
CurrPos.nFlag2 = 0 ;
vNewPos.emplace_back( CurrPos) ;
}
}
// reset
bOk = bOk && pMch->LuaResetGlobVar( EMC_VAR) ;
bOk = pMch->LuaResetGlobVar( EMC_VAR) && bOk ;
// segnalo errori
if ( nErr != 0) {
bOk = false ;
@@ -4563,6 +4801,7 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
}
else {
bModif = false ;
nErase = 0 ;
return true ;
}
}
Operation.h
+19 -6
View File
@@ -114,6 +114,16 @@ class Operation : public IUserObj
protected :
Operation( void) ;
protected :
struct Position {
int nSide ;
DBLVECTOR vAxis ;
int nFlag ;
int nFlag2 ;
Position() : nSide( 0), nFlag( 0), nFlag2( 0) {}
} ;
typedef std::vector<Position> POSVECTOR ;
protected :
bool UpdateFollowingOperationsStatus( int nModif) ;
bool GetElevation( int nPhase, const Point3d& ptP,
@@ -198,15 +208,17 @@ class Operation : public IUserObj
bool bMaxDeltaR2OnFirst, bool bRotContOnNext, double dAngDeltaMinForHome,
const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec) ;
bool AdjustStartEndMovements( bool bVerifyPreviousLink = true) ;
bool AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ) ;
bool ManageProtectedAreas( const DBLVECTOR& vAxVal, const DBLVECTOR& vAxIni, Operation* pPrevOp, Operation* pNextOp, bool& bClimbDone) ;
bool AdjustOneStartEndMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ) ;
bool ToolChangeNeeded( const Operation& Op1, const Operation& Op2) const ;
bool RemoveClimb( int nClPathId) ;
bool AddRise( DBLVECTOR& vAxVal, double dDelta = - 1, int nClPathId = GDB_ID_NULL, bool bZHomeDown = false) ;
bool AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL, int nFlag = 0) ;
bool AddSpecialClimb( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL, int nFlag = 0, int nFlag2 = 0) ;
bool RemoveClimb( int nClPathId = GDB_ID_NULL) ;
bool AddRise( DBLVECTOR& vAxVal, double dDelta = NAN, int nClPathId = GDB_ID_NULL, int nToMinMaxZ = 0) ;
bool AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL, int nFlag = 0, int nFlag2 = 0) ;
bool RemoveRise( int nClPathId = GDB_ID_NULL) ;
bool AddHome( void) ;
bool RemoveClimbRiseHome( void) ;
bool AddRobotClimb( int nEntId, double dDeltaZ) ;
bool AddRobotClimb( int nEntId, double dDeltaZ = NAN) ;
bool CalcRobotAxesAbovePos( const Point3d& ptP, const Vector3d& vtT, const Vector3d& vtA, double dDeltaZ,
DBLVECTOR& vAx, double* pdNewDeltaZ = nullptr) const ;
bool CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, double& dDeltaZ) const ;
@@ -224,7 +236,8 @@ class Operation : public IUserObj
bool TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
int SpecialTestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
bool SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nFlag2, bool& bModif) ;
bool SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, DBLVECTOR& vAxNew, bool& bModif) ;
bool SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, int nLinkType,
POSVECTOR& vNewPos, bool& bModif, int& nErase) ;
bool GetAggrBottomData( const std::string& sHead, AggrBottom& agbData) const ;
bool IsAggrBottom( const std::string& sHead) const ;