def get_cam_plane_with_tool_rot_WCS(self, rot_value_back):
cam_plane_WCS = ghcomp.Transform(self.cam_plane, self.T)
T_rot_back = rg.Transform.Rotation(m.radians(rot_value_back),
self.plane_WCS.ZAxis,
self.plane_WCS.Origin)
cam_plane_WCS = ghcomp.Transform(cam_plane_WCS, T_rot_back)
return cam_plane_WCS
def get_geo_with_rotated_joints_in_world_with_tool_rot(
self, joint_values, tool_joint_values, extended=True):
''' the joint values (in degrees) serve as the input, the method returns the link geo (and tool geo) and tool0 plane transformed '''
# the angles in radians
joint_values = [m.radians(j) for j in joint_values]
a1, a2, a3, a4, a5, a6 = joint_values
L1, L2, L3, L4, L5, L6 = self.link_geo
# calculate transformations
j1, j2, j3, j4, j5, j6 = [rg.Plane(jp) for jp in self.joint_planes]
T1 = rg.Transform.Rotation(a1, j1.ZAxis, j1.Origin)
T2 = T1 * rg.Transform.Rotation(a2, j2.ZAxis, j2.Origin)
T3 = T2 * rg.Transform.Rotation(a3, j3.ZAxis, j3.Origin)
T4 = T3 * rg.Transform.Rotation(a4, j4.ZAxis, j4.Origin)
T5 = T4 * rg.Transform.Rotation(a5, j5.ZAxis, j5.Origin)
T6 = T5 * rg.Transform.Rotation(a6, j6.ZAxis, j6.Origin)
L1_t = ghcomp.Transform(L1, T1)
L2_t = ghcomp.Transform(L2, T2)
L3_t = ghcomp.Transform(L3, T3)
L4_t = ghcomp.Transform(L4, T4)
L5_t = ghcomp.Transform(L5, T5)
L6_t = ghcomp.Transform(L6, T6)
link_geo_transformed = [L1_t, L2_t, L3_t, L4_t, L5_t, L6_t]
tool0_plane_transformed = ghcomp.Transform(j6, T6)
self.T_R_TOOL0 = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
tool0_plane_transformed)
link_geo_transformed_world = ghcomp.Transform(link_geo_transformed,
self.T_W_R)
tool0_plane_transformed_world = ghcomp.Transform(
tool0_plane_transformed, self.T_W_R)
base_geo_world = ghcomp.Transform(self.base_geo, self.T_W_R)
self.T_W_TOOL0 = rg.Transform.PlaneToPlane(
rg.Plane.WorldXY, tool0_plane_transformed_world)
if self.tool:
T = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
tool0_plane_transformed_world)
tool_geo_trfd_world = self.tool.get_transformed_geo_with_tool_transformation(
T,
tool_joint_values[0],
tool_joint_values[1],
extended=extended)
return [
base_geo_world, link_geo_transformed_world, tool_geo_trfd_world
]
else:
return [base_geo_world, link_geo_transformed_world]
def __init__(self, geo, gantry_plane):
''' gantry class for the rfl
geo = gantry geometry as list
plane = defined gantry plane - if default - [0,0,0,x,y]
'''
self.geo = geo
self.plane = gantry_plane
self.frame = Frame(self.plane, draw_geo=True)
self.T = rg.Transform.PlaneToPlane(self.plane, rg.Plane.WorldXY)
self.geo_WCS = ghcomp.Transform(self.geo, self.T) # gantry aligned_with_WCS
self.plane_WCS = ghcomp.Transform(self.plane, self.T) # should be WorldXY plane
def get_attachment_planes_for_cables(self,
plane_transformer,
plane_gripper,
joint_values,
tool_joint_values,
extended=True,
transformer_on_axis=3):
tool0_plane_transformed_world = self.get_tool0_plane_from_joint_values_world(
joint_values)
# the angles in radians
joint_values = [m.radians(j) for j in joint_values]
a1, a2, a3, a4, a5, a6 = joint_values
# calculate transformations
j1, j2, j3, j4, j5, j6 = [rg.Plane(jp) for jp in self.joint_planes]
T1 = rg.Transform.Rotation(a1, j1.ZAxis, j1.Origin)
T2 = T1 * rg.Transform.Rotation(a2, j2.ZAxis, j2.Origin)
T3 = T2 * rg.Transform.Rotation(a3, j3.ZAxis, j3.Origin)
T4 = T3 * rg.Transform.Rotation(a4, j4.ZAxis, j4.Origin)
T5 = T4 * rg.Transform.Rotation(a5, j5.ZAxis, j5.Origin)
T6 = T5 * rg.Transform.Rotation(a6, j6.ZAxis, j6.Origin)
if transformer_on_axis == 6:
plane_transformer_transformed = ghcomp.Transform(
plane_transformer, T6)
if transformer_on_axis == 4:
plane_transformer_transformed = ghcomp.Transform(
plane_transformer, T4)
if transformer_on_axis == 3:
plane_transformer_transformed = ghcomp.Transform(
plane_transformer, T3)
plane_transformer_transformed_world = ghcomp.Transform(
plane_transformer_transformed, self.T_W_R)
T = rg.Transform.PlaneToPlane(rg.Plane.WorldXY,
tool0_plane_transformed_world)
plane_gripper_transformed_world = self.tool.get_transformed_plane_gripper(
T,
tool_joint_values[0],
tool_joint_values[1],
plane_gripper,
extended=extended)
return (plane_transformer_transformed_world,
plane_gripper_transformed_world)
def get_transformed_geo_with_tool_transformation_WCS(
self, T, rot_value_front, rot_value_back, extended=False):
geo_WCS = self.apply_tool_transformation_WCS(rot_value_front,
rot_value_back,
extended=extended)
return ghcomp.Transform(geo_WCS, T)
def set_robot_origin_with_measured_base(self, base_plane):
''' sets to origin plane of the robot based on a manual measured base '''
T = rg.Transform.PlaneToPlane(base_plane, rg.Plane.WorldXY)
plane = ghcomp.Transform(rg.Plane.WorldXY, T)
self.set_robot_origin(plane)
def get_tool_plane_in_RCS(self, tool_plane_WCS, rob_num):
''' returns the tool plane in the robot coordinate system from a plane in the world cs'''
T_R_W = self.T_R_W_1 if rob_num == 1 else self.T_R_W_2 if rob_num == 2 else self.T_R_W_3 if rob_num == 3 else self.T_R_W_4 if rob_num == 4 else None
tool_plane_RCS = ghcomp.Transform(tool_plane_WCS, T_R_W)
return tool_plane_RCS
def get_frame_axes_as_lines_WCS(self):
''' this method allows you to visualize the tool axes as lines and gh colors transformed into the WCS'''
tool_axes, tool_axes_colors = self.get_frame_axes_as_lines()
tool_axes = ghcomp.Transform(tool_axes, self.T) # aligned_with_WCS
return tool_axes, tool_axes_colors
def get_tool0_plane_from_joint_values_world(self, joint_values):
''' the joint values (in degrees)'''
tool0_plane_transformed = self.get_tool0_plane_from_joint_values(
joint_values)
tool0_plane_transformed_world = ghcomp.Transform(
tool0_plane_transformed, self.T_W_R)
return tool0_plane_transformed_world
def apply_coll_geo_transformation(self, rot_value_back):
""" for transforming the collision geo which is in zero """
trot_plane = rg.Plane(self.plane)
T_rot_back = rg.Transform.Rotation(m.radians(rot_value_back),
trot_plane.ZAxis, trot_plane.Origin)
collision_geo_trfd = ghcomp.Transform(self.collision_geo, T_rot_back)
return collision_geo_trfd
def get_transformed_plane_gripper(self,
T,
rot_value_front,
rot_value_back,
plane_gripper,
extended=False):
''' intermediary function to check the cable routing for the welder... '''
trot_plane = rg.Plane(self.plane)
T_rot_back = rg.Transform.Rotation(m.radians(rot_value_back),
trot_plane.ZAxis, trot_plane.Origin)
plane_gripper = ghcomp.Transform(plane_gripper, T_rot_back)
if extended == True:
return ghcomp.Transform(plane_gripper, T)
else:
# maybe add a translation
return ghcomp.Transform(plane_gripper, T)
def get_tool0_plane_from_joint_values_world(self, joint_values, rob_num):
''' the joint values (in degrees)'''
T_W_R = self.T_W_R_1 if rob_num == 1 else self.T_W_R_2 if rob_num == 2 else self.T_W_R_3 if rob_num == 3 else self.T_W_R_4 if rob_num == 4 else None
tool0_plane_transformed = self.get_tool0_plane_from_joint_values(
joint_values)
tool0_plane_transformed_world = ghcomp.Transform(
tool0_plane_transformed, T_W_R)
return tool0_plane_transformed_world
def apply_tool_transformation_WCS(self,
rot_value_front,
rot_value_back,
extended=False):
""" for transforming the tool which is aligned to the tool plane """
geo = self.apply_tool_transformation(rot_value_front,
rot_value_back,
extended=extended)
geo_WCS = ghcomp.Transform(geo, self.T) # tool aligned_with_WCS
return geo_WCS
def get_footprint(_surfaces):
# Finds the 'footprint' of the building for 'Primary Energy Renewable' reference
# 1) Re-build the Opaque Surfaces
# 2) Join all the surface Breps into a single brep
# 3) Find the 'box' for the single joined brep
# 4) Find the lowest Z points on the box, offset another 10 units 'down'
# 5) Make a new Plane at this new location
# 6) Projects the brep edges onto the new Plane
# 7) Split a surface using the edges, combine back into a single surface
Footprint = namedtuple('Footprint',
['Footprint_surface', 'Footprint_area'])
#----- Build brep
surfaces = (from_face3d(surface.Srfc) for surface in _surfaces)
bldg_mass = ghc.BrepJoin(surfaces).breps
bldg_mass = ghc.BoundaryVolume(bldg_mass)
if not bldg_mass:
return Footprint(None, None)
#------- Find Corners, Find 'bottom' (lowest Z)
bldg_mass_corners = [v for v in ghc.BoxCorners(bldg_mass)]
bldg_mass_corners.sort(reverse=False, key=lambda point3D: point3D.Z)
rect_pts = bldg_mass_corners[0:3]
#------- Projection Plane
projection_plane1 = ghc.Plane3Pt(rect_pts[0], rect_pts[1], rect_pts[2])
projection_plane2 = ghc.Move(projection_plane1, ghc.UnitZ(-10)).geometry
matrix = rs.XformPlanarProjection(projection_plane2)
#------- Project Edges onto Projection Plane
projected_edges = []
for edge in ghc.DeconstructBrep(bldg_mass).edges:
projected_edges.append(ghc.Transform(edge, matrix))
#------- Split the projection surface using the curves
l1 = ghc.Line(rect_pts[0], rect_pts[1])
l2 = ghc.Line(rect_pts[0], rect_pts[2])
max_length = max(ghc.Length(l1), ghc.Length(l2))
projection_surface = ghc.Polygon(projection_plane2, max_length * 100, 4,
0).polygon
projected_surfaces = ghc.SurfaceSplit(projection_surface, projected_edges)
#------- Remove the biggest surface from the set(the background srfc)
projected_surfaces.sort(key=lambda x: x.GetArea())
projected_surfaces.pop(-1)
#------- Join the new srfcs back together into a single one
unioned_NURB = ghc.RegionUnion(projected_surfaces)
unioned_surface = ghc.BoundarySurfaces(unioned_NURB)
return Footprint(unioned_surface, unioned_surface.GetArea())
def get_transformed_geo(self, plane_new, rob_nr):
self.plane = plane_new
geo_z1, geo_z2, geo_y, geo_x, geo_fix = self.geo
plane_0 = rg.Plane(rg.Point3d(0,0,0), rg.Vector3d(1,0,0), rg.Vector3d(0,1,0))
#self.plane.YAxis.Reverse()
#self.plane.XAxis.Reverse()
vec_trans_1 = rg.Vector3d.Subtract(rg.Vector3d(self.plane.Origin), rg.Vector3d(rg.Plane.WorldXY.Origin))
T1 = rg.Transform.Translation(vec_trans_1)
T_rot = rg.Transform.Rotation(m.pi, rg.Vector3d.ZAxis, self.plane.Origin)
T_mirr = rg.Transform.Mirror(self.plane.Origin, rg.Vector3d.XAxis)
z_max = 4500
vec_trans_2_z = ((z_max - vec_trans_1.Z)/2) + vec_trans_1.Z
vec_trans_2 = vec_trans_1
vec_trans_2.Z = vec_trans_2_z
T2 = rg.Transform.Translation(vec_trans_2)
vec_trans_3 = rg.Vector3d(vec_trans_1.X, vec_trans_1.Y, 0)
T3 = rg.Transform.Translation(vec_trans_3)
vec_trans_4 = rg.Vector3d(vec_trans_1.X, 0, 0)
T4 = rg.Transform.Translation(vec_trans_4)
geo_z1_WCS = ghcomp.Transform(geo_z1, T1)
geo_z2_WCS = ghcomp.Transform(geo_z2, T2)
geo_y_WCS = ghcomp.Transform(geo_y, T3)
if rob_nr == 1 or rob_nr == 3:
geo_x_WCS = ghcomp.Transform(geo_x, T4)
else:
geo_x_WCS = None
if rob_nr == 2 or rob_nr == 4:
geo_z1_WCS = ghcomp.Transform(geo_z1_WCS, T_rot)
geo_z2_WCS = ghcomp.Transform(geo_z2_WCS, T_rot)
if rob_nr == 3 or rob_nr == 4:
geo_y_WCS = ghcomp.Transform(geo_y_WCS, T_rot)
if rob_nr == 3:
geo_x_WCS = ghcomp.Transform(geo_x_WCS, T_mirr)
geo_gantry = [geo_z1_WCS, geo_z2_WCS, geo_y_WCS, geo_x_WCS, geo_fix]
return geo_gantry
def __init__(self, geo, tool_plane):
''' tool class for the robot
geo = tool geometry as list
plane = defined tool plane
geo_trfd = tool geometry transformed that the defined tool plane is aligned with the world xy plane
'''
self.geo = geo
self.plane = tool_plane
self.frame = Frame(self.plane, draw_geo=True)
self.T = rg.Transform.PlaneToPlane(self.plane, rg.Plane.WorldXY)
self.geo_WCS = ghcomp.Transform(self.geo,
self.T) # tool aligned_with_WCS
self.plane_WCS = ghcomp.Transform(self.plane,
self.T) # should be WorldXY plane
self.collision_geo = self.geo
self.colors = [
ghcomp.ColourRGB(100, 100, 150, 200)
for i, part in enumerate(self.geo)
]
def apply_tool_transformation(self,
rot_value_front,
rot_value_back,
extended=False):
""" for transforming the tool which is in zero """
#self.p1_fixed, self.p2_rotfront, self.p3_rotback_frame, self.p3_rotback_gripper_ret, self.p3_rotback_gripper_ext, self.collision_geo = self.geo
trot_plane = rg.Plane(self.plane)
T_rot_front = rg.Transform.Rotation(m.radians(rot_value_front),
trot_plane.ZAxis,
trot_plane.Origin)
p2_rotfront_trfd = ghcomp.Transform(self.p2_rotfront, T_rot_front)
T_rot_back = rg.Transform.Rotation(m.radians(rot_value_back),
trot_plane.ZAxis, trot_plane.Origin)
p3_rotback_frame_trfd = ghcomp.Transform(self.p3_rotback_frame,
T_rot_back)
p3_rotback_gripper_ret_trfd = ghcomp.Transform(
self.p3_rotback_gripper_ret, T_rot_back)
p3_rotback_gripper_ext_trfd = ghcomp.Transform(
self.p3_rotback_gripper_ext, T_rot_back)
collision_geo_trfd = ghcomp.Transform(self.collision_geo, T_rot_back)
if extended == True:
return [
self.p1_fixed, p2_rotfront_trfd, p3_rotback_frame_trfd,
p3_rotback_gripper_ext_trfd, collision_geo_trfd
]
else:
return [
self.p1_fixed, p2_rotfront_trfd, p3_rotback_frame_trfd,
p3_rotback_gripper_ret_trfd, collision_geo_trfd
]
def get_tool0_plane_from_joint_values(self, joint_values):
''' the joint values (in degrees)'''
# the angles in radians
joint_values = [m.radians(j) for j in joint_values]
a1, a2, a3, a4, a5, a6 = joint_values
# calculate transformations
j1, j2, j3, j4, j5, j6 = [rg.Plane(jp) for jp in self.joint_planes]
T1 = rg.Transform.Rotation(a1, j1.ZAxis, j1.Origin)
T2 = T1 * rg.Transform.Rotation(a2, j2.ZAxis, j2.Origin)
T3 = T2 * rg.Transform.Rotation(a3, j3.ZAxis, j3.Origin)
T4 = T3 * rg.Transform.Rotation(a4, j4.ZAxis, j4.Origin)
T5 = T4 * rg.Transform.Rotation(a5, j5.ZAxis, j5.Origin)
T6 = T5 * rg.Transform.Rotation(a6, j6.ZAxis, j6.Origin)
tool0_plane_transformed = ghcomp.Transform(j6, T6)
return tool0_plane_transformed
def apply_coll_geo_transformation_WCS(self, rot_value_back):
""" for transforming the collgeo which is aligned to the tool plane """
coll_geo = self.apply_coll_geo_transformation(rot_value_back)
coll_geo_WCS = ghcomp.Transform(coll_geo,
self.T) # tool aligned_with_WCS
return coll_geo_WCS
warning = "Looks like there are two Detail Views on your Layout Page? This Probably will not work right with more than one view on a page."
ghenv.Component.AddRuntimeMessage(
ghK.GH_RuntimeMessageLevel.Warning, warning)
# > Find the note's Paperspace location
noteCP_transformed = []
if _noteLocations.BranchCount > 0:
for eachCP in _noteLocations.Branch(branchNum):
noteCP_transformed.append(
ghc.Transform(eachCP, dtlViewTransforms[0]))
txtBoxes = [] # the note bounding boxes
for noteNum, eachNote in enumerate(_notesToBake.Branch(branchNum)):
txtBox = bakeText(_txt=eachNote,
_txtLocation=noteCP_transformed[noteNum],
_layer=tempLayer_Notes,
_txtSize=float(noteTxtSize_),
_neighbors=txtBoxes,
_avoidCollisions=True)
txtBoxes.append(txtBox)
# > Layout Page Titleblock Text Objects
def get_tool_plane_in_RCS(self, tool_plane_WCS):
''' returns the tool plane in the robot coordinate system from a plane in the world cs'''
tool_plane_RCS = ghcomp.Transform(tool_plane_WCS, self.T_R_W)
return tool_plane_RCS
def get_transformed_coll_geo_with_tool_transformation_WCS(
self, T, rot_value_back):
coll_geo_WCS = self.apply_coll_geo_transformation_WCS(rot_value_back)
return ghcomp.Transform(coll_geo_WCS, T)
def set_collision_geo(self, collision_geo):
""" collision geo of the LWS tool"""
self.collison_geo = collision_geo
self.collison_geo_WCS = ghcomp.Transform(self.collison_geo, self.T)
def get_transformed_plane(self, T):
''' returns the tool plane transformed by the input transformation matrix '''
return ghcomp.Transform(self.plane, T)
def get_transformed_geo(self, T):
''' returns the tool geo transformed by the input transformation matrix '''
return ghcomp.Transform(self.geo, T)