Examples with DHParameterKinematics com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics used on opensource projects

Example 6 with DHParameterKinematics

use of com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics in project bowler-script-kernel by CommonWealthRobotics.

the class MobileBaseCadManager method _generateStls.

private ArrayList<File> _generateStls(MobileBase base, File baseDirForFiles, boolean kinematic) throws IOException {
    ArrayList<File> allCadStl = new ArrayList<>();
    ArrayList<DHParameterKinematics> limbs = base.getAllDHChains();
    double numLimbs = limbs.size();
    int i;
    // Start by generating the legs using the DH link based generator
    ArrayList<CSG> totalAssembly = new ArrayList<>();
    double offset = 0;
    for (i = 0; i < limbs.size(); i += 1) {
        double progress = (1.0 - ((numLimbs - i) / numLimbs)) / 2;
        getProcesIndictor().set(progress);
        DHParameterKinematics l = limbs.get(i);
        ArrayList<CSG> parts = getDHtoCadMap().get(l);
        for (int j = 0; j < parts.size(); j++) {
            CSG csg = parts.get(j);
            String name = csg.getName();
            try {
                CSG tmp;
                if (!kinematic)
                    csg = csg.prepForManufacturing();
                if (csg != null) {
                    if (!kinematic) {
                        tmp = csg.toXMax().toYMax();
                    } else {
                        tmp = csg;
                    }
                    if (totalAssembly.size() > 0 && !kinematic)
                        totalAssembly.add(tmp.movey(.5 + totalAssembly.get(totalAssembly.size() - 1).getMaxY() + Math.abs(csg.getMinY())));
                    else
                        totalAssembly.add(tmp);
                    LinkConfiguration conf = getLinkConfiguration(parts.get(j));
                    String linkNum = conf.getLinkIndex() + "_Link_";
                    File dir = new File(baseDirForFiles.getAbsolutePath() + "/" + base.getScriptingName() + "/" + l.getScriptingName());
                    if (!dir.exists())
                        dir.mkdirs();
                    System.out.println("Making STL for " + name);
                    File stl = new File(dir.getAbsolutePath() + "/" + linkNum + name + "_limb_" + i + "_Part_" + j + ".stl");
                    FileUtil.write(Paths.get(stl.getAbsolutePath()), tmp.toStlString());
                    allCadStl.add(stl);
                    // totalAssembly.add(tmp);
                    getUi().setAllCSG(totalAssembly, getCadScript());
                    set(base, i, j);
                }
            } catch (Exception ex) {
                getUi().highlightException(getCadScript(), ex);
            }
        // legAssembly.setManufactuing(new PrepForManufacturing() {
        // public CSG prep(CSG arg0) {
        // return null;
        // }
        // });
        }
    // offset =
    // -2-((legAssembly.get(legAssembly.size()-1).getMaxX()+legAssembly.get(legAssembly.size()-1).getMinX())*i);
    // legAssembly=legAssembly.movex(offset);
    }
    int link = 0;
    // now we genrate the base pieces
    for (CSG csg : getBasetoCadMap().get(base)) {
        String name = csg.getName();
        try {
            if (!kinematic)
                csg = csg.prepForManufacturing();
            if (csg != null) {
                if (!kinematic) {
                    csg = csg.toYMin().movex(-2 - csg.getMaxX() + offset);
                }
                File dir = new File(baseDirForFiles.getAbsolutePath() + "/" + base.getScriptingName() + "/");
                if (!dir.exists())
                    dir.mkdirs();
                File stl = new File(dir.getAbsolutePath() + "/" + name + "_Body_part_" + link + ".stl");
                FileUtil.write(Paths.get(stl.getAbsolutePath()), csg.toStlString());
                allCadStl.add(stl);
                totalAssembly.add(csg);
                getUi().setAllCSG(totalAssembly, getCadScript());
                link++;
            }
        } catch (Exception ex) {
            getUi().highlightException(getCadScript(), ex);
        }
    }
    // ui.setCsg(BasetoCadMap.get(base),getCadScript());
    // for(CSG c: DHtoCadMap.get(base.getAllDHChains().get(0))){
    // ui.addCsg(c,getCadScript());
    // }
    showingStl = true;
    getProcesIndictor().set(1);
    return allCadStl;
}

Example 7 with DHParameterKinematics

use of com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics in project bowler-script-kernel by CommonWealthRobotics.

the class MobileBaseCadManager method generateBody.

public ArrayList<CSG> generateBody(MobileBase base) {
    getProcesIndictor().set(0);
    setAllCad(new ArrayList<>());
    // DHtoCadMap = new HashMap<>();
    // private HashMap<MobileBase, ArrayList<CSG>> BasetoCadMap = new
    // HashMap<>();
    MobileBase device = base;
    if (getBasetoCadMap().get(device) == null) {
        getBasetoCadMap().put(device, new ArrayList<CSG>());
    }
    if (cadEngine == null) {
        try {
            setDefaultLinkLevelCadEngine();
        } catch (Exception e) {
            getUi().highlightException(null, e);
        }
        if (getCadScript() != null) {
            try {
                cadEngine = ScriptingEngine.inlineFileScriptRun(getCadScript(), null);
            } catch (Exception e) {
                getUi().highlightException(getCadScript(), e);
            }
        }
    }
    getProcesIndictor().set(0.1);
    try {
        getAllCad().clear();
        if (showingStl) {
            // skip the regen
            for (CSG c : getBasetoCadMap().get(device)) {
                getAllCad().add(c);
            }
        } else {
            if (!bail) {
                ArrayList<CSG> newcad = getIgenerateBody().generateBody(device);
                for (CSG c : newcad) {
                    getAllCad().add(c);
                }
                ui.addCSG(newcad, getCadScript());
            } else
                new Exception().printStackTrace();
            ArrayList<CSG> arrayList = getBasetoCadMap().get(device);
            arrayList.clear();
            for (CSG c : getAllCad()) {
                arrayList.add(c);
            }
            new Thread(() -> {
                Thread.currentThread().setUncaughtExceptionHandler(new IssueReportingExceptionHandler());
                // load the cad union in a thread to
                localGetBaseCad(device);
            // make it ready for physics
            }).start();
        }
    } catch (Exception e) {
        getUi().highlightException(getCadScript(), e);
    }
    System.out.println("Displaying Body");
    getProcesIndictor().set(0.35);
    // clears old robot and places base
    getUi().setAllCSG(getBasetoCadMap().get(device), getCadScript());
    System.out.println("Rendering limbs");
    getProcesIndictor().set(0.4);
    ArrayList<DHParameterKinematics> limbs = base.getAllDHChains();
    double numLimbs = limbs.size();
    int i = 0;
    for (DHParameterKinematics l : limbs) {
        if (getDHtoCadMap().get(l) == null) {
            getDHtoCadMap().put(l, new ArrayList<CSG>());
        }
        ArrayList<CSG> arrayList = getDHtoCadMap().get(l);
        int j = 0;
        if (showingStl || !device.isAvailable()) {
            for (CSG csg : arrayList) {
                getAllCad().add(csg);
                getUi().addCsg(csg, getCadScript());
                set(base, (int) i, (int) j);
                j += 1;
            }
        } else {
            arrayList.clear();
            ArrayList<CSG> linksCad = generateCad(l);
            for (CSG csg : linksCad) {
                getAllCad().add(csg);
                arrayList.add(csg);
                getUi().addCsg(csg, getCadScript());
                j += 1;
            }
        }
        i += 1;
    }
    showingStl = false;
    getProcesIndictor().set(1);
    // return PhysicsEngine.getCsgFromEngine();
    return getAllCad();
}

Example 8 with DHParameterKinematics

use of com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics in project bowler-script-kernel by CommonWealthRobotics.

the class MobileBaseCadManager method generateCad.

/**
 * This function iterates through the links generating them
 *
 * @param dh
 * @return
 */
public ArrayList<CSG> generateCad(DHParameterKinematics dh) {
    ArrayList<CSG> dhLinks = new ArrayList<>();
    if (cadEngine == null) {
        try {
            setDefaultLinkLevelCadEngine();
        } catch (Exception e) {
            getUi().highlightException(getCadScript(), e);
        }
    }
    try {
        IgenerateCad generatorToUse = getIgenerateCad();
        if (dhCadGen.get(dh) != null) {
            Object object = dhCadGen.get(dh);
            if (IgenerateCad.class.isInstance(object))
                generatorToUse = (IgenerateCad) object;
        }
        int j = 0;
        for (DHParameterKinematics dhtest : getMobileBase().getAllDHChains()) {
            if (dhtest == dh)
                break;
            j++;
        }
        for (int i = 0; i < dh.getNumberOfLinks(); i++) {
            set(base, (int) j, (int) i);
            if (!bail) {
                ArrayList<CSG> tmp = generatorToUse.generateCad(dh, i);
                getUi().addCSG(tmp, getCadScript());
                LinkConfiguration configuration = dh.getLinkConfiguration(i);
                if (getLinktoCadMap().get(configuration) == null) {
                    getLinktoCadMap().put(configuration, new ArrayList<>());
                } else
                    getLinktoCadMap().get(configuration).clear();
                for (CSG c : tmp) {
                    dhLinks.add(c);
                    // add to
                    getLinktoCadMap().get(configuration).add(c);
                // the
                // regestration
                // storage
                }
                AbstractLink link = dh.getFactory().getLink(configuration);
                link.addLinkListener(new ILinkListener() {

                    @Override
                    public void onLinkPositionUpdate(AbstractLink arg0, double arg1) {
                    // TODO Auto-generated method stub
                    }

                    @Override
                    public void onLinkLimit(AbstractLink arg0, PIDLimitEvent arg1) {
                        if (getAutoRegen())
                            selectCsgByLink(base, configuration);
                    }
                });
            }
        }
        return dhLinks;
    } catch (Exception e) {
        getUi().highlightException(getCadScript(), e);
    }
    return null;
}

Example 9 with DHParameterKinematics

use of com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics in project bowler-script-kernel by CommonWealthRobotics.

the class MobileBaseCadManager method setDefaultLinkLevelCadEngine.

private void setDefaultLinkLevelCadEngine() throws Exception {
    String[] cad;
    cad = base.getGitCadEngine();
    if (cadEngine == null) {
        setGitCadEngine(cad[0], cad[1], base);
    }
    for (DHParameterKinematics kin : base.getAllDHChains()) {
        String[] kinEng = kin.getGitCadEngine();
        if (!cad[0].contentEquals(kinEng[0]) || !cad[1].contentEquals(kinEng[1])) {
            setGitCadEngine(kinEng[0], kinEng[1], kin);
        }
    }
}

Example 10 with DHParameterKinematics

use of com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics in project BowlerStudio by CommonWealthRobotics.

the class AppTestLinkWidgets method start.

@Override
public void start(Stage stage) throws Exception {
    ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/DeviceProviders.git", "loadAll.groovy", null);
    MobileBase base = MobileBaseLoader.fromGit("https://github.com/Hephaestus-Arm/HephaestusArm2.git", "hephaestus.xml");
    DHParameterKinematics limb = base.getAllDHChains().get(0);
    int index = 2;
    LinkConfiguration conf = limb.getLinkConfiguration(index);
    LinkConfigurationWidget theWidget = new LinkConfigurationWidget(conf, limb.getFactory(), MobileBaseCadManager.get(base));
    LinkSliderWidget lsw = new LinkSliderWidget(index, limb, theWidget);
    VBox box = new VBox();
    box.getChildren().addAll(lsw);
    Group root = new Group(box);
    Scene scene = new Scene(root, 800, 900);
    stage.setTitle("My JavaFX Application");
    stage.setScene(scene);
    stage.show();
}