├── 1.png ├── 2.png ├── 3.png ├── 4.png ├── README.md ├── Tecnomatix.png ├── rrtRobot.sln ├── rrtRobot ├── Dllrandom_cpp │ ├── Debug │ │ ├── DLLRANDOMCPP.Build.CppClean.log │ │ └── Dllrandom_cpp.log │ ├── Dllrandom_cpp.cpp │ ├── Dllrandom_cpp.h │ ├── Dllrandom_cpp.vcxproj │ ├── Dllrandom_cpp.vcxproj.filters │ ├── Dllrandom_cpp.vcxproj.user │ ├── cpp.hint │ ├── dllmain.cpp │ ├── framework.h │ ├── pch.cpp │ ├── pch.h │ ├── randomcpp.cpp │ ├── randomcpp.h │ └── x64 │ │ └── Debug │ │ ├── DLLRANDOMCPP.Build.CppClean.log │ │ └── Dllrandom_cpp.log ├── PdpsMop.dll ├── Properties │ └── AssemblyInfo.cs ├── StringTable.Designer.cs ├── StringTable.resx ├── TxRobotAPIClass.cs ├── TxRobotPathOptimizePtp.cs ├── TxRobotRRTConnectJoint.cs ├── TxRobotRRTConnectJoint.zip ├── TxRobotRRTConnectJointUpdate.cs ├── TxRobotRRTConnectJointUpdate.zip ├── TxRobotptpPathCal.cs ├── TxrrtRobotPathPlanner.cs ├── TxrrtRobotPathPlannerForm.Designer.cs ├── TxrrtRobotPathPlannerForm.cs ├── TxrrtRobotPathPlannerForm.resx ├── bin │ ├── Debug │ │ ├── rrtRobot.dll │ │ └── rrtRobot.pdb │ ├── Release.zip │ └── Release │ │ ├── rrtRobot.dll │ │ └── rrtRobot.pdb ├── obj │ ├── Debug │ │ ├── DesignTimeResolveAssemblyReferences.cache │ │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ │ ├── TempPE │ │ │ └── StringTable.Designer.cs.dll │ │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ │ ├── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs │ │ ├── rrtRobot.StringTable.resources │ │ ├── rrtRobot.TxrrtRobotPathPlannerForm.resources │ │ ├── rrtRobot.csproj.AssemblyReference.cache │ │ ├── rrtRobot.csproj.CoreCompileInputs.cache │ │ ├── rrtRobot.csproj.FileListAbsolute.txt │ │ ├── rrtRobot.csproj.GenerateResource.cache │ │ ├── rrtRobot.dll │ │ └── rrtRobot.pdb │ └── Release │ │ ├── DesignTimeResolveAssemblyReferences.cache │ │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ │ ├── TempPE │ │ └── StringTable.Designer.cs.dll │ │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ │ ├── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs │ │ ├── rrtRobot.StringTable.resources │ │ ├── rrtRobot.TxrrtRobotPathPlannerForm.resources │ │ ├── rrtRobot.csproj.AssemblyReference.cache │ │ ├── rrtRobot.csproj.CoreCompileInputs.cache │ │ ├── rrtRobot.csproj.FileListAbsolute.txt │ │ ├── rrtRobot.csproj.GenerateResource.cache │ │ ├── rrtRobot.dll │ │ └── rrtRobot.pdb ├── rrtRobot.bmp ├── rrtRobot.csproj ├── rrtRobot.csproj.user ├── rrtRobot.ico ├── rrtRobot.jpg ├── rrtRobotMul.png └── rrtRobot_L.bmp └── rrtRobot_MT ├── rrtRobot.sln └── rrtRobot ├── Dllrandom_cpp ├── Debug │ ├── DLLRANDOMCPP.Build.CppClean.log │ └── Dllrandom_cpp.log ├── Dllrandom_cpp.cpp ├── Dllrandom_cpp.h ├── Dllrandom_cpp.vcxproj ├── Dllrandom_cpp.vcxproj.filters ├── Dllrandom_cpp.vcxproj.user ├── cpp.hint ├── dllmain.cpp ├── framework.h ├── pch.cpp ├── pch.h ├── randomcpp.cpp ├── randomcpp.h └── x64 │ └── Debug │ ├── DLLRANDOMCPP.Build.CppClean.log │ └── Dllrandom_cpp.log ├── PdpsMop.dll ├── Properties └── AssemblyInfo.cs ├── StringTable.Designer.cs ├── StringTable.resx ├── TxRobotAPIClass.cs ├── TxRobotPathOptimizePtp.cs ├── TxRobotRRTConnectJoint.cs ├── TxRobotptpPathCal.cs ├── TxrrtRobotPathPlanner.cs ├── TxrrtRobotPathPlannerForm.Designer.cs ├── TxrrtRobotPathPlannerForm.cs ├── TxrrtRobotPathPlannerForm.resx ├── bin ├── Debug │ ├── rrtRobot.dll │ └── rrtRobot.pdb ├── Release.zip └── Release │ ├── rrtRobot.dll │ └── rrtRobot.pdb ├── obj ├── Debug │ ├── DesignTimeResolveAssemblyReferences.cache │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ ├── TempPE │ │ └── StringTable.Designer.cs.dll │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ ├── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs │ ├── rrtRobot.StringTable.resources │ ├── rrtRobot.TxrrtRobotPathPlannerForm.resources │ ├── rrtRobot.csproj.AssemblyReference.cache │ ├── rrtRobot.csproj.CoreCompileInputs.cache │ ├── rrtRobot.csproj.FileListAbsolute.txt │ ├── rrtRobot.csproj.GenerateResource.cache │ ├── rrtRobot.dll │ └── rrtRobot.pdb └── Release │ ├── DesignTimeResolveAssemblyReferences.cache │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ ├── TempPE │ └── StringTable.Designer.cs.dll │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ ├── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs │ ├── rrtRobot.StringTable.resources │ ├── rrtRobot.TxrrtRobotPathPlannerForm.resources │ ├── rrtRobot.csproj.AssemblyReference.cache │ ├── rrtRobot.csproj.CoreCompileInputs.cache │ ├── rrtRobot.csproj.FileListAbsolute.txt │ ├── rrtRobot.csproj.GenerateResource.cache │ ├── rrtRobot.dll │ └── rrtRobot.pdb ├── rrtRobot.bmp ├── rrtRobot.csproj ├── rrtRobot.csproj.user ├── rrtRobot.ico └── rrtRobot.jpg /1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/1.png -------------------------------------------------------------------------------- /2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/2.png -------------------------------------------------------------------------------- /3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/3.png -------------------------------------------------------------------------------- /4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/4.png -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Industry-Robot-Auto-Path-Planner 2 | 3 | Introduction 4 | Develop Industry Robot (KUKA/KAWASAKI/ABB/FANUC) Auto path planner APP integrated into Robot Simulation platform Tecnomatix process simulate software to generate Robot Path automaticlly. 5 | Currently the path which can be generated is only focus onto Spot Welding path, and the Tool or Gun mounted on Robot should be Server Welding Gun; 6 | The Path Planner Coding/Arithmetic is base on [RRT* Connect 3D](https://github.com/WYoseanLove/RRT-_Connect_3D.git), which is modifed for 7 degree freedom including (TX, TY, TZ, RX, RY, RZ, GunOpening); 7 | Industry Robot Forward/Inverse kinematic calculation is directly taken the function from Tecnomatix API, but the user can also reference the coding [Industrial Robot Forward and Inverse Kinematic Calculation](https://github.com/WYoseanLove/Industrial-Robot-Forward-and-Inverse-Kinematic-Calculation.git)generated the dll and re-call it, but the robot DH model should be setup correctly; 8 | The Collison test and calculation is directly taken the function from Tecnomatix API. 9 | Since the Tecnomatix does not support for multiple Thread, so the app is taken Async/Await method for progress bar; 10 | 11 | System SetUp 12 | Before Taken the app, you should install SIEMENS Tecnomatix Process simulate, the version in my laptop is 2402, different version the App UI will be different 13 | ![OUTPUT](Tecnomatix.png) 14 | The Coding for RRTRobot release the dll file should be copied to folder "C:\Program Files\Tecnomatix_2402\eMPower\DotNetCommands"; 15 | ![OUTPUT](1.png) 16 | Go back to folder "eMPower" to register the dlll command; 17 | ![OUTPUT](2.png) 18 | Then you can open the Process simualte software to add the command into the Tool Bar, pleae right click the top Tool bar "Customize Ribbon", found the RobApp ine the left list and add it to "Customize the Ribbon" list; 19 | ![OUTPUT](3.png) 20 | Untill now all the setup is finished 21 | 22 | UI Introduction 23 | ![OUTPUT](4.png) 24 | below is to explain how to use the App to do the path planner: 25 | 1. Robot: please select the robot in the Viewer, and the Robot name & TCP Frame will be automaticlly into the text; 26 | please note: the weld gun used to calculate the Robot path should be only mounted on the Robot, if the Robot have multiple guns, all will be unmounted and request you mount only one; 27 | 2. Collision: The system will consider the gun and Robot as Collision Src, here you need select which is the Collision Target, of course you can select multiple collision target, and all of them will be considerde during calculation; 28 | 3. Spot direction: this is cirtical setup, the app will be add pass point if the rrt connect not calculate path result after 1000 iteration, the direction will decide along which weld spot aix the Robot will escape. 29 | For example in the snap, all the spots are in front of Robot, and the Robot can be excape the collision target along the X aix according Robot base frame. So here will be select "X"; 30 | -----from version 2.0, the spot direction is removed, since the sofware will calculate the escape direction by itself 31 | 4. select which Op will be calculated; 32 | 5. Click "Path Connect" 33 | 6. When Finish calculated, click "Generate" 34 | Note: if some spots in Op can not calculated, those of spots will be removed from Op ; 35 | 36 | -------------------------------------------------------------------------------- /Tecnomatix.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/Tecnomatix.png -------------------------------------------------------------------------------- /rrtRobot.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 15 4 | VisualStudioVersion = 15.0.28307.1758 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "rrtRobot", "rrtRobot\rrtRobot.csproj", "{01846D24-9944-4ABD-9277-6DE06E2CFA08}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Any CPU = Debug|Any CPU 11 | Debug|x64 = Debug|x64 12 | Debug|x86 = Debug|x86 13 | Release|Any CPU = Release|Any CPU 14 | Release|x64 = Release|x64 15 | Release|x86 = Release|x86 16 | EndGlobalSection 17 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 18 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 19 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|Any CPU.Build.0 = Debug|Any CPU 20 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|x64.ActiveCfg = Debug|Any CPU 21 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|x64.Build.0 = Debug|Any CPU 22 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|x86.ActiveCfg = Debug|Any CPU 23 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Debug|x86.Build.0 = Debug|Any CPU 24 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|Any CPU.ActiveCfg = Release|Any CPU 25 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|Any CPU.Build.0 = Release|Any CPU 26 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|x64.ActiveCfg = Release|Any CPU 27 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|x64.Build.0 = Release|Any CPU 28 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|x86.ActiveCfg = Release|Any CPU 29 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|x86.Build.0 = Release|Any CPU 30 | EndGlobalSection 31 | GlobalSection(SolutionProperties) = preSolution 32 | HideSolutionNode = FALSE 33 | EndGlobalSection 34 | GlobalSection(ExtensibilityGlobals) = postSolution 35 | SolutionGuid = {872405A9-EA12-4DBB-AFC5-72D5D973A2DB} 36 | EndGlobalSection 37 | EndGlobal 38 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Debug/DLLRANDOMCPP.Build.CppClean.log: -------------------------------------------------------------------------------- 1 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllrandomcpp.pch 2 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\vc141.pdb 3 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\vc141.idb 4 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\pch.obj 5 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\randomcpp.obj 6 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllrandom_cpp.obj 7 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllmain.obj 8 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.lib 9 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.exp 10 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.ilk 11 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.dll 12 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.pdb 13 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllmain.obj 14 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.obj 15 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\pch.obj 16 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\randomcpp.obj 17 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandomcpp.pch 18 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\vc141.idb 19 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\vc141.pdb 20 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.pdb 21 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.dll 22 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.ilk 23 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.command.1.tlog 24 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.read.1.tlog 25 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.write.1.tlog 26 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\dllrandom_cpp.write.1u.tlog 27 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.command.1.tlog 28 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.read.1.tlog 29 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.write.1.tlog 30 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Debug/Dllrandom_cpp.log: -------------------------------------------------------------------------------- 1 |  -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Dllrandom_cpp.cpp: -------------------------------------------------------------------------------- 1 | // Dllrandom_cpp.cpp : Defines the exported functions for the DLL. 2 | // 3 | 4 | #include "pch.h" 5 | #include "framework.h" 6 | #include "Dllrandom_cpp.h" 7 | 8 | 9 | // This is an example of an exported variable 10 | DLLRANDOMCPP_API int nDllrandomcpp=0; 11 | 12 | // This is an example of an exported function. 13 | DLLRANDOMCPP_API int fnDllrandomcpp(void) 14 | { 15 | return 0; 16 | } 17 | 18 | // This is the constructor of a class that has been exported. 19 | CDllrandomcpp::CDllrandomcpp() 20 | { 21 | return; 22 | } 23 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Dllrandom_cpp.h: -------------------------------------------------------------------------------- 1 | // The following ifdef block is the standard way of creating macros which make exporting 2 | // from a DLL simpler. All files within this DLL are compiled with the DLLRANDOMCPP_EXPORTS 3 | // symbol defined on the command line. This symbol should not be defined on any project 4 | // that uses this DLL. This way any other project whose source files include this file see 5 | // DLLRANDOMCPP_API functions as being imported from a DLL, whereas this DLL sees symbols 6 | // defined with this macro as being exported. 7 | #ifdef DLLRANDOMCPP_EXPORTS 8 | #define DLLRANDOMCPP_API __declspec(dllexport) 9 | #else 10 | #define DLLRANDOMCPP_API __declspec(dllimport) 11 | #endif 12 | 13 | // This class is exported from the dll 14 | class DLLRANDOMCPP_API CDllrandomcpp { 15 | public: 16 | CDllrandomcpp(void); 17 | // TODO: add your methods here. 18 | }; 19 | 20 | extern DLLRANDOMCPP_API int nDllrandomcpp; 21 | 22 | DLLRANDOMCPP_API int fnDllrandomcpp(void); 23 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Release 10 | Win32 11 | 12 | 13 | Debug 14 | x64 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | 15.0 23 | {35EC40F2-0702-4D09-92B4-D5D24DAC294F} 24 | Win32Proj 25 | Dllrandomcpp 26 | 10.0.17763.0 27 | 28 | 29 | 30 | DynamicLibrary 31 | true 32 | v141 33 | Unicode 34 | 35 | 36 | DynamicLibrary 37 | false 38 | v141 39 | true 40 | Unicode 41 | 42 | 43 | DynamicLibrary 44 | true 45 | v141 46 | Unicode 47 | 48 | 49 | DynamicLibrary 50 | false 51 | v141 52 | true 53 | Unicode 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | DLLRANDOMCPP 75 | true 76 | 77 | 78 | DLLRANDOMCPP 79 | true 80 | C:\Program Files\Tecnomatix_2206.0\eMPower\DotNetCommands\Debug\ 81 | 82 | 83 | DLLRANDOMCPP 84 | false 85 | 86 | 87 | DLLRANDOMCPP 88 | false 89 | 90 | 91 | 92 | Use 93 | Level3 94 | Disabled 95 | true 96 | WIN32;_DEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 97 | true 98 | pch.h 99 | 100 | 101 | Windows 102 | true 103 | false 104 | 105 | 106 | 107 | 108 | Use 109 | Level3 110 | Disabled 111 | true 112 | _DEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 113 | true 114 | pch.h 115 | 116 | 117 | Windows 118 | true 119 | false 120 | 121 | 122 | 123 | 124 | Use 125 | Level3 126 | MaxSpeed 127 | true 128 | true 129 | true 130 | WIN32;NDEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 131 | true 132 | pch.h 133 | 134 | 135 | Windows 136 | true 137 | true 138 | true 139 | false 140 | 141 | 142 | 143 | 144 | Use 145 | Level3 146 | MaxSpeed 147 | true 148 | true 149 | true 150 | NDEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 151 | true 152 | pch.h 153 | 154 | 155 | Windows 156 | true 157 | true 158 | true 159 | false 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | Create 176 | Create 177 | Create 178 | Create 179 | 180 | 181 | 182 | 183 | 184 | 185 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hh;hpp;hxx;hm;inl;inc;ipp;xsd 11 | 12 | 13 | {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} 14 | rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | Header Files 23 | 24 | 25 | Header Files 26 | 27 | 28 | Header Files 29 | 30 | 31 | Header Files 32 | 33 | 34 | 35 | 36 | Source Files 37 | 38 | 39 | Source Files 40 | 41 | 42 | Source Files 43 | 44 | 45 | Source Files 46 | 47 | 48 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj.user: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Mixed 5 | WindowsLocalDebugger 6 | C:\Program Files\Tecnomatix_2206.0\eMPower\DotNetCommands\Debug\rrtRobot.dll 7 | 8 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/cpp.hint: -------------------------------------------------------------------------------- 1 | #define DLLRANDOMCPP_API __declspec(dllexport) 2 | #define DLLRANDOMCPP_API __declspec(dllimport) 3 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/dllmain.cpp: -------------------------------------------------------------------------------- 1 | // dllmain.cpp : Defines the entry point for the DLL application. 2 | #include "pch.h" 3 | 4 | BOOL APIENTRY DllMain( HMODULE hModule, 5 | DWORD ul_reason_for_call, 6 | LPVOID lpReserved 7 | ) 8 | { 9 | switch (ul_reason_for_call) 10 | { 11 | case DLL_PROCESS_ATTACH: 12 | case DLL_THREAD_ATTACH: 13 | case DLL_THREAD_DETACH: 14 | case DLL_PROCESS_DETACH: 15 | break; 16 | } 17 | return TRUE; 18 | } 19 | 20 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/framework.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers 4 | // Windows Header Files 5 | #include 6 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/pch.cpp: -------------------------------------------------------------------------------- 1 | // pch.cpp: source file corresponding to the pre-compiled header 2 | 3 | #include "pch.h" 4 | 5 | // When you are using pre-compiled headers, this source file is necessary for compilation to succeed. 6 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/pch.h: -------------------------------------------------------------------------------- 1 | // pch.h: This is a precompiled header file. 2 | // Files listed below are compiled only once, improving build performance for future builds. 3 | // This also affects IntelliSense performance, including code completion and many code browsing features. 4 | // However, files listed here are ALL re-compiled if any one of them is updated between builds. 5 | // Do not add files here that you will be updating frequently as this negates the performance advantage. 6 | 7 | #ifndef PCH_H 8 | #define PCH_H 9 | 10 | // add headers that you want to pre-compile here 11 | #ifndef NOMINMAX 12 | # define NOMINMAX 13 | #endif 14 | #include 15 | #include "framework.h" 16 | 17 | 18 | #endif //PCH_H 19 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/randomcpp.cpp: -------------------------------------------------------------------------------- 1 | #include "pch.h" 2 | #include "randomcpp.h" 3 | double numberLimitMax_double() 4 | { 5 | return std::numeric_limits::max(); 6 | 7 | } 8 | 9 | 10 | bool random_inital() 11 | { 12 | goal_gen_ = std::mt19937(goal_rd_()); 13 | goal_dis_ = std::uniform_int_distribution(0, 100); //生成0-100之间均匀分布的随机数,数据类型为int； 14 | area_gen_ = std::mt19937(area_rd_()); 15 | area_dis_ = std::uniform_real_distribution(0, 15); 16 | srand(time(NULL)); 17 | return true; 18 | } 19 | 20 | int generate_goal_dis() 21 | { 22 | int x = goal_dis_(goal_gen_); 23 | return x; 24 | } 25 | 26 | double generate_area_dis() 27 | { 28 | double y = area_dis_(goal_gen_); 29 | return y; 30 | } 31 | 32 | int generate_rand_Int() 33 | { 34 | return rand(); 35 | 36 | 37 | } 38 | 39 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/randomcpp.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | 9 | #define lib_export 10 | #ifdef lib_export 11 | #define cs_lib_api extern "C" __declspec(dllexport) 12 | #else 13 | #define cs_lib_api __declspec(dllimport) 14 | #endif 15 | 16 | #ifdef DLLRANDOMCPP_EXPORTS 17 | #define DLLRANDOMCPP_API __declspec(dllexport) 18 | #else 19 | #define DLLRANDOMCPP_API __declspec(dllimport) 20 | #endif 21 | 22 | 23 | 24 | std::random_device goal_rd_; //goal_rd_() 随机生成一个数字；这里random_device类没有设置随机生成数字的范围； 25 | 26 | std::mt19937 goal_gen_; //生成随机数 27 | std::uniform_int_distribution goal_dis_; 28 | 29 | std::random_device area_rd_;//area_rd_() 随机生成一个数字；这里random_device类没有设置随机生成数字的范围； 30 | std::mt19937 area_gen_;//生成随机数； 31 | std::uniform_real_distribution area_dis_; 32 | 33 | 34 | bool random_inital(); 35 | int generate_goal_dis(); 36 | double generate_area_dis(); 37 | double numberLimitMax_double(); 38 | int generate_rand_Int(); 39 | 40 | extern "C" DLLRANDOMCPP_API bool RANDOM_Init() { return random_inital(); } 41 | 42 | extern "C" DLLRANDOMCPP_API int GenerateGoal_dis() { return generate_goal_dis(); } 43 | 44 | extern "C" DLLRANDOMCPP_API double GenerateArea_dis() { return generate_area_dis(); } 45 | 46 | extern "C" DLLRANDOMCPP_API double Number_Limit_MAX() { return numberLimitMax_double(); } 47 | 48 | extern "C" DLLRANDOMCPP_API int Generate_rand_Int() { return generate_rand_Int(); } 49 | 50 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/x64/Debug/DLLRANDOMCPP.Build.CppClean.log: -------------------------------------------------------------------------------- 1 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandomcpp.pch 2 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\vc141.pdb 3 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\vc141.idb 4 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\pch.obj 5 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\randomcpp.obj 6 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.obj 7 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllmain.obj 8 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.lib 9 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.exp 10 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.ilk 11 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.dll 12 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.pdb 13 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.command.1.tlog 14 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.read.1.tlog 15 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.write.1.tlog 16 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\dllrandom_cpp.write.1u.tlog 17 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.command.1.tlog 18 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.delete.1.tlog 19 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.read.1.tlog 20 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.write.1.tlog 21 | -------------------------------------------------------------------------------- /rrtRobot/Dllrandom_cpp/x64/Debug/Dllrandom_cpp.log: -------------------------------------------------------------------------------- 1 |  -------------------------------------------------------------------------------- /rrtRobot/PdpsMop.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/rrtRobot/PdpsMop.dll -------------------------------------------------------------------------------- /rrtRobot/Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.InteropServices; 3 | 4 | // General Information about an assembly is controlled through the following 5 | // set of attributes. Change these attribute values to modify the information 6 | // associated with an assembly. 7 | [assembly: AssemblyTitle("rrtRobot")] 8 | [assembly: AssemblyDescription("")] 9 | [assembly: AssemblyConfiguration("")] 10 | [assembly: AssemblyCompany("")] 11 | [assembly: AssemblyProduct("rrtRobot")] 12 | [assembly: AssemblyCopyright("Copyright © 2024")] 13 | [assembly: AssemblyTrademark("")] 14 | [assembly: AssemblyCulture("")] 15 | 16 | // Setting ComVisible to false makes the types in this assembly not visible 17 | // to COM components. If you need to access a type in this assembly from 18 | // COM, set the ComVisible attribute to true on that type. 19 | [assembly: ComVisible(false)] 20 | 21 | // The following GUID is for the ID of the typelib if this project is exposed to COM 22 | [assembly: Guid("01846d24-9944-4abd-9277-6de06e2cfa08")] 23 | 24 | // Version information for an assembly consists of the following four values: 25 | // 26 | // Major Version 27 | // Minor Version 28 | // Build Number 29 | // Revision 30 | // 31 | // You can specify all the values or you can default the Build and Revision Numbers 32 | // by using the '*' as shown below: 33 | // [assembly: AssemblyVersion("1.0.*")] 34 | [assembly: AssemblyVersion("1.0.0.0")] 35 | [assembly: AssemblyFileVersion("1.0.0.0")] 36 | -------------------------------------------------------------------------------- /rrtRobot/StringTable.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // This code was generated by a tool. 4 | // Runtime Version:4.0.30319.42000 5 | // 6 | // Changes to this file may cause incorrect behavior and will be lost if 7 | // the code is regenerated. 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | namespace rrtRobot { 12 | using System; 13 | 14 | 15 | /// 16 | /// A strongly-typed resource class, for looking up localized strings, etc. 17 | /// 18 | // This class was auto-generated by the StronglyTypedResourceBuilder 19 | // class via a tool like ResGen or Visual Studio. 20 | // To add or remove a member, edit your .ResX file then rerun ResGen 21 | // with the /str option, or rebuild your VS project. 22 | [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")] 23 | [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] 24 | [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] 25 | internal class StringTable { 26 | 27 | private static global::System.Resources.ResourceManager resourceMan; 28 | 29 | private static global::System.Globalization.CultureInfo resourceCulture; 30 | 31 | [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] 32 | internal StringTable() { 33 | } 34 | 35 | /// 36 | /// Returns the cached ResourceManager instance used by this class. 37 | /// 38 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 39 | internal static global::System.Resources.ResourceManager ResourceManager { 40 | get { 41 | if (object.ReferenceEquals(resourceMan, null)) { 42 | global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("rrtRobot.StringTable", typeof(StringTable).Assembly); 43 | resourceMan = temp; 44 | } 45 | return resourceMan; 46 | } 47 | } 48 | 49 | /// 50 | /// Overrides the current thread's CurrentUICulture property for all 51 | /// resource lookups using this strongly typed resource class. 52 | /// 53 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 54 | internal static global::System.Globalization.CultureInfo Culture { 55 | get { 56 | return resourceCulture; 57 | } 58 | set { 59 | resourceCulture = value; 60 | } 61 | } 62 | 63 | /// 64 | /// Looks up a localized string similar to rrtRobot.bmp. 65 | /// 66 | internal static string Bitmap { 67 | get { 68 | return ResourceManager.GetString("Bitmap", resourceCulture); 69 | } 70 | } 71 | 72 | /// 73 | /// Looks up a localized string similar to Develop. 74 | /// 75 | internal static string Category { 76 | get { 77 | return ResourceManager.GetString("Category", resourceCulture); 78 | } 79 | } 80 | 81 | /// 82 | /// Looks up a localized string similar to rrtRobotMul.png. 83 | /// 84 | internal static string LargeBitmap { 85 | get { 86 | return ResourceManager.GetString("LargeBitmap", resourceCulture); 87 | } 88 | } 89 | 90 | /// 91 | /// Looks up a localized string similar to Mul_rrtRobot. 92 | /// 93 | internal static string Name { 94 | get { 95 | return ResourceManager.GetString("Name", resourceCulture); 96 | } 97 | } 98 | } 99 | } 100 | -------------------------------------------------------------------------------- /rrtRobot/StringTable.resx: -------------------------------------------------------------------------------- 1 |  2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | text/microsoft-resx 110 | 111 | 112 | 2.0 113 | 114 | 115 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | 118 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 119 | 120 | 121 | rrtRobot.bmp 122 | 123 | 124 | Develop 125 | 126 | 127 | rrtRobotMul.png 128 | 129 | 130 | Mul_rrtRobot 131 | 132 | -------------------------------------------------------------------------------- /rrtRobot/TxRobotAPIClass.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using System.Text; 6 | using System.Threading.Tasks; 7 | using System.Windows.Forms; 8 | using Tecnomatix.Engineering; 9 | 10 | namespace rrtRobot 11 | { 12 | public class TxRobotAPIClass 13 | { 14 | public static double M_PI = 3.1415926; 15 | public static System.Collections.Hashtable objHash = new Hashtable(); 16 | 17 | /* TxRobotPostureGenerate(TxRobot robot, ArrayList Solutions, double Gun_openning) 18 | * Update the robot's pose based on the results of the robot inverse kinematics calculation: 19 | * 1. TxRobot robot-Which robot's posture needs updating; 20 | * 21 | * 2. Solutions-an ArrayList, stores all inverse kinematic solutions for the robot poses. 22 | * The robot pose is updated using the first inverse kinematic solution. 23 | * This update is to verify the collision detection results between the robot flange's installed tooling and the environment; 24 | * it is unrelated to path smoothing. The optimal solution will be selected in the path optimization function. 25 | * 26 | * 3. Gun_Opening- The Gun_Opening parameter stores the numerical values for the axis mounted on the robot flange, such as Server Weld Gun; 27 | * 28 | * 根据机器人逆向学运算的结果,更新机器人的姿态: 29 | * 1. robot指的是哪个机器人的姿态需要更新; 30 | * 2. Solutions 作为ArrayList 数据,存储了所有的机器人姿态的逆向解, 31 | * 这里机器人姿态的更新是按照第一个逆向解进行姿态更新, 32 | * 这里更新机器人姿态的目的是为了验证机器人法兰盘安装Tooling的碰撞检测结果, 33 | * 与路径的平滑无关,在路径的优化函数中,会挑选出最优解; 34 | * 3. Gun_Opening 参数存储了法兰盘安装轴的数值例如焊钳 35 | */ 36 | 37 | public static void TxRobotPostureGenerate(Control control, TxRobot robot,TxServoGun servoGun, ArrayList Solutions, double Gun_openning) 38 | { 39 | 40 | if (control.InvokeRequired) 41 | { 42 | // Use Invoke to call this method on the UI thread 43 | control.Invoke(new Action(TxRobotPostureGenerate), control, robot, servoGun, Solutions, Gun_openning); 44 | } 45 | else 46 | { 47 | // Execute the main logic of setting the robot and tool poses 48 | if (Solutions.Count == 0) 49 | return; 50 | 51 | TxPoseData poseData = (TxPoseData)Solutions[0]; 52 | robot.CurrentPose = poseData; 53 | 54 | ITxDevice tSelectObject = servoGun as ITxDevice; 55 | 56 | ArrayList ToolJointValue = new ArrayList(); 57 | ToolJointValue.Add(Gun_openning); 58 | 59 | 60 | TxPoseData txToolPoseData = tSelectObject.CurrentPose; 61 | txToolPoseData.JointValues = ToolJointValue; 62 | tSelectObject.CurrentPose = txToolPoseData; 63 | 64 | } 65 | 66 | 67 | } 68 | 69 | /* public static ArrayList robotInverseCal(TxRobot robot, point target) 70 | * Robot inverse kinematics calculations are performed using the built-in functions of TECNOMATIX. 71 | * Other inverse kinematics functions (custom-defined) can also be substituted. 72 | * 通过TECNOMATIX自带的函数进行机器人逆向学计算，这里也可以更换成其他的逆向学函数(自定义的) 73 | */ 74 | 75 | public static ArrayList robotInverseCal(Control control, TxRobot robot, point target) 76 | { 77 | if (control.InvokeRequired) 78 | { 79 | // Use Invoke to call this method on the UI thread 80 | return (ArrayList)control.Invoke(new Func(robotInverseCal), control, robot, target); 81 | } 82 | else 83 | { 84 | // The main logic of the method 85 | TxRobotInverseData txRobotInverseData = new TxRobotInverseData(); 86 | TxTransformation robotTarget = new TxTransformation(); 87 | TxVector rotation = new TxVector(); 88 | rotation.X = target.rx; 89 | rotation.Y = target.ry; 90 | rotation.Z = target.rz; 91 | 92 | TxTransformation txTransformation = new TxTransformation(); 93 | txTransformation.RotationRPY_XYZ = rotation; 94 | txTransformation.Translation = new TxVector(target.x, target.y, target.z); 95 | 96 | txRobotInverseData.Destination = txTransformation; 97 | 98 | ArrayList solutions = robot.CalcInverseSolutions(txRobotInverseData); 99 | 100 | return solutions; 101 | } 102 | } 103 | /* 104 | * Implement collision detection using TECNOMATIX's internal functions. Call TxCollisionQueryResults via a using statement to guarantee proper disposal of resources. 105 | * 通过TECNOMATIX自带的函数进行碰撞检测，通过using 调用TxCollisionQueryResults，并及时释放资源 106 | */ 107 | 108 | public static bool Collision_Check(Control control, TxCollisionPairCreationData cd, TxCollisionQueryParams queryParams, TxCollisionRoot root, TxObjectList collisionSrc, TxObjectList collisionTar, double Clearance) 109 | { 110 | if (control.InvokeRequired) 111 | { 112 | // Use Invoke to call this method on the UI thread 113 | return (bool)control.Invoke(new Func( 114 | Collision_Check), control, cd, queryParams, root, collisionSrc, collisionTar, Clearance); 115 | } 116 | else 117 | { 118 | // Execute the main logic of the function 119 | queryParams.Mode = TxCollisionQueryParams.TxCollisionQueryMode.DefinedPairs; 120 | queryParams.NearMissDistance = Clearance; 121 | 122 | using (TxCollisionQueryResults results = root.GetCollidingObjects(queryParams)) 123 | { 124 | if (results.States.Count == 0) 125 | { 126 | results.States.Clear(); 127 | cd.Dispose(); 128 | return true; 129 | } 130 | 131 | for (int i = 0; i < results.States.Count; i++) 132 | { 133 | if ((results.States[i] as TxCollisionState).Type == TxCollisionState.TxCollisionStateType.Collision) 134 | { 135 | results.States.Clear(); 136 | cd.Dispose(); 137 | return false; 138 | } 139 | } 140 | return true; 141 | 142 | } 143 | 144 | } 145 | } 146 | 147 | public static void DisposeTxposureData(ArrayList Solutions) 148 | { 149 | if (Solutions.Count == 0) return; 150 | 151 | for (int i = 0; i < Solutions.Count; i++) 152 | { 153 | 154 | (Solutions[i] as TxPoseData).Dispose(); 155 | } 156 | 157 | } 158 | 159 | public static void CreateSweptVolume(TxWeldOperation weldOp) 160 | { 161 | objHash.Clear(); 162 | 163 | TxSimulationPlayer player = new TxSimulationPlayer(); 164 | player.SetOperation(weldOp); 165 | player.TimeIntervalReached += player_TimeIntervalReached; 166 | player.PlayWithoutRefresh(); 167 | player.TimeIntervalReached -= player_TimeIntervalReached; 168 | player.Rewind(); 169 | 170 | 171 | TxRobot rob = weldOp.Robot as TxRobot; 172 | TxSweptVolumeCreationData svCredata = new TxSweptVolumeCreationData(); 173 | TxSweptVolume sv = weldOp.CreateSweptVolume(svCredata); 174 | sv.Accuracy = 50; 175 | sv.Clearance = 5.0; 176 | sv.Name = rob.Name; 177 | 178 | TxSweptVolumeCalculationData data = new TxSweptVolumeCalculationData(); 179 | 180 | foreach (ITxLocatableObject locObj in objHash.Keys) 181 | { 182 | data.AddObjectData(objHash[locObj] as TxObjectSweptVolumeCalculationData); 183 | } 184 | TxSweptVolume_MayProceedCalculation MayProceed = calculator; 185 | 186 | bool calculator(int x) 187 | { 188 | return true; 189 | } 190 | 191 | sv.Calculate(data, MayProceed); 192 | sv.Lock(); 193 | void player_TimeIntervalReached(object sender, TxSimulationPlayer_TimeIntervalReachedEventArgs args) 194 | { 195 | //Add also the attached objects if you need (the gun for example) 196 | TxRobot robot = weldOp.Robot as TxRobot; 197 | TxObjectList children = robot.GetAllDescendants(new TxTypeFilter(typeof(ITxLocatableObject))); 198 | children.Add(weldOp.Gun); 199 | foreach (ITxLocatableObject child in children) 200 | { 201 | if (!objHash.ContainsKey(child)) 202 | { 203 | //if no data was added for that object (child) create new data 204 | TxObjectSweptVolumeCalculationData osData = new TxObjectSweptVolumeCalculationData(child); 205 | osData.AddTransformation(child.AbsoluteLocation); 206 | objHash.Add(child, osData); 207 | } 208 | else 209 | { 210 | //Get the data and add a new transformation 211 | TxObjectSweptVolumeCalculationData osData = objHash[child] as TxObjectSweptVolumeCalculationData; 212 | osData.AddTransformation(child.AbsoluteLocation); 213 | } 214 | } 215 | } 216 | 217 | 218 | 219 | 220 | } 221 | 222 | 223 | public static T GetObjectByName(string objectName) where T : class, ITxObject 224 | { 225 | TxObjectList foundObjects = TxApplication.ActiveDocument.GetObjectsByName(objectName); 226 | 227 | T foundObj = null; 228 | int objectsNum = 0; 229 | 230 | foreach (ITxObject obj in foundObjects) 231 | { 232 | if (obj is T) 233 | { 234 | foundObj = obj as T; 235 | objectsNum++; 236 | } 237 | } 238 | 239 | return foundObj; 240 | } 241 | 242 | } 243 | } 244 | -------------------------------------------------------------------------------- /rrtRobot/TxRobotPathOptimizePtp.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using Tecnomatix.Engineering; 6 | 7 | namespace rrtRobot 8 | { 9 | public class TxRobotPathOptimizePtp 10 | { 11 | /*TxRoboticViaLocationOperation addrobotPathViaLoc(string name, point p, TxWeldOperation weldOperation, TxRobot robot) 12 | * 在当前选择计算的焊接轨迹中增加过度点； 13 | * 1. name:定义过度点的名称； 14 | * 2. p：过度点的坐标值； 15 | * 3. weldOperation：计算或增加过度点的轨迹； 16 | * 4. robot-当前计算和规划路径的机器人； 17 | * 每个新增加的过度点都定义了相对应的Tooling设备，Tooling的角度值，以及过度点的运动类型，PTP or Line 18 | * 19 | * This code snippet describes adding via points (intermediate points) to a welding trajectory. Let's break down each point: 20 | * name (1): This assigns a unique identifier or name to the via point. This is useful for tracking and debugging. 21 | * p (2): This represents the 3D Cartesian coordinates (x, y, z) of the via point in the robot's workspace. 22 | * weldOperation (3): This likely refers to the welding operation associated with the via point. This could include details like welding parameters (e.g., current, speed, etc.) or instructions for the robot's welding tool. The description implies that this element is either calculated to determine the via point or is used to add the via point to the existing welding trajectory. 23 | * robot (4): Similar to the previous example, this specifies the robot for which the path is being planned. 24 | * Tooling, Angle, and Motion Type (5): Each via point is further defined by: 25 | * Tooling: Specifies the end-effector or tool being used at this via point. This might be a specific welding torch or other tool attached to the robot. 26 | * Angle: This refers to the orientation of the tooling at the via point. Accurate orientation is critical for successful welding. 27 | * Motion Type (PTP or Line): This dictates the type of robot motion used to reach the via point 28 | * PTP (Point-to-Point): The robot moves directly to the point, ignoring the path taken. This is generally faster but less precise. 29 | * Line: The robot moves along a straight line to the point. This provides more control over the path but might be slower. 30 | */ 31 | public static TxRoboticViaLocationOperation addrobotPathViaLoc(string name, point p, TxWeldOperation weldOperation, TxRobot robot, TxServoGun robServerGun) 32 | { 33 | TxRoboticViaLocationOperationCreationData roboticViaLocationOperationCreationData = new TxRoboticViaLocationOperationCreationData(name, "", 2.0); 34 | 35 | TxVector tran = new TxVector(p.x, p.y, p.z); 36 | 37 | TxVector rot = new TxVector(p.rx, p.ry, p.rz); 38 | 39 | roboticViaLocationOperationCreationData.AbsoluteLocation = new TxTransformation(tran, rot, TxTransformation.TxRotationType.RPY_XYZ); 40 | 41 | TxRoboticViaLocationOperation RobFramepostLocation = weldOperation.CreateRoboticViaLocationOperation(roboticViaLocationOperationCreationData); 42 | TxRobotExternalAxisData[] externalAxisData = new TxRobotExternalAxisData[1]; 43 | externalAxisData[0] = new TxRobotExternalAxisData(); 44 | externalAxisData[0].Device = robServerGun as TxServoGun; 45 | externalAxisData[0].Joint = (robServerGun as TxServoGun).DrivingJoints.Last() as TxJoint; 46 | externalAxisData[0].JointValue = p.Gun_Open; 47 | 48 | RobFramepostLocation.RobotExternalAxesData = externalAxisData; 49 | RobFramepostLocation.SetParameter(new TxRoboticIntParam("RRS_MOTION_TYPE", 1)); 50 | 51 | 52 | return RobFramepostLocation; 53 | } 54 | //比较两个角度，并考虑角度的周期性问题(360deg) Compare two angles, taking into account their periodicity (360 degrees). 55 | private static double AngleDifference(double angle1, double angle2) 56 | { 57 | double diff = Math.Abs(angle1 - angle2); 58 | return Math.Min(diff, 2 * Math.PI - diff); 59 | } 60 | //计算某个逆向解与上一个点的总关节角度变化 Calculate the total joint angle change between a given inverse kinematic solution and the previous point. 61 | private static double CalculateTotalDifference(List current_Solution, List pre_Solution) 62 | { 63 | 64 | double totalDifference = 0; 65 | 66 | for (int i = 0; i < current_Solution.Count; i++) 67 | { 68 | totalDifference += AngleDifference(current_Solution[i], pre_Solution[i]); 69 | 70 | } 71 | 72 | return totalDifference; 73 | 74 | 75 | } 76 | /*static int ChooseBestInverseSolution(ArrayList current_Solution, TxPoseData pre_txPoseData,bool AllJointsorNot) 77 | * 从所有逆向解列表中选出最优的逆向解，并定义为机器人在该点处的姿态： 78 | * 1. List current_Solution 所有逆向解的列表； 79 | * 2. pre_txPoseData 与之前的逆向解进行对比，并挑选出最合适的逆向解； 80 | * 3. AllJointsorNot 是否考虑所有的关节角度； 81 | * 如果为true, 则计算所有的6个关节角度，并选出关节角度之和变化最小的逆向解； 82 | * 如果为false, 则只计算1轴，4轴和6轴，此时已默认机器人的ST值进行了定义 83 | * The optimal inverse kinematic solution is selected from the list of available solutions and defined as the robot's pose at that point. 84 | * 1. Inverse Kinematic Solutions: List current_Solution contains all calculated inverse kinematic solutions. 85 | * 2. Comparison with Previous Solution: pre_txPoseData represents the previous inverse kinematic solution. The optimal solution from current_Solution is selected based on its similarity to pre_txPoseData. 86 | * 3. Joint Angle Consideration (AllJointsorNot): This parameter determines which joint angles are considered when selecting the optimal solution. 87 | * true: All six joint angles are considered. The solution with the minimum total change in joint angles (sum of absolute differences) compared to pre_txPoseData is selected. 88 | * false: Only joints 1, 4, and 6 are considered. This assumes that the robot's ST values (likely referring to specific robot parameters or configurations) have already been defined. 89 | * 90 | */ 91 | public static int ChooseBestInverseSolution(ArrayList current_Solution, TxPoseData pre_txPoseData, bool AllJointsorNot) 92 | { 93 | 94 | double minDifference = double.MaxValue; 95 | int bestSulotion = int.MaxValue; 96 | 97 | List pre_Solution = new List(); 98 | if (AllJointsorNot) 99 | { 100 | pre_Solution.Add((double)pre_txPoseData.JointValues[0]); 101 | pre_Solution.Add((double)pre_txPoseData.JointValues[1]); 102 | pre_Solution.Add((double)pre_txPoseData.JointValues[2]); 103 | pre_Solution.Add((double)pre_txPoseData.JointValues[3]); 104 | pre_Solution.Add((double)pre_txPoseData.JointValues[4]); 105 | pre_Solution.Add((double)pre_txPoseData.JointValues[5]); 106 | } 107 | else 108 | { 109 | pre_Solution.Add((double)pre_txPoseData.JointValues[0]); 110 | 111 | pre_Solution.Add((double)pre_txPoseData.JointValues[3]); 112 | 113 | pre_Solution.Add((double)pre_txPoseData.JointValues[5]); 114 | } 115 | 116 | for (int i = 0; i < current_Solution.Count; i++) 117 | { 118 | List varSolution = new List(); 119 | if (AllJointsorNot) 120 | { 121 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[0]); 122 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[1]); 123 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[2]); 124 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[3]); 125 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[4]); 126 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[5]); 127 | } 128 | else 129 | { 130 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[0]); 131 | 132 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[3]); 133 | 134 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[5]); 135 | 136 | } 137 | 138 | double totalDifference = CalculateTotalDifference(varSolution, pre_Solution); 139 | 140 | if (totalDifference < minDifference) 141 | { 142 | minDifference = totalDifference; 143 | bestSulotion = i; 144 | } 145 | 146 | } 147 | 148 | 149 | 150 | return bestSulotion; 151 | } 152 | /*static ArrayList filterRobotConfigSolution(TxRobotConfigurationData pre_locationConfigData, ArrayList current_Solution,TxRobot robot) 153 | * 从所有的逆向解列表中挑选出来与之前逆向解ST值相同的逆向解，并加入到新的逆向解清单作为筛选出的逆向解； 154 | * 1. TxRobotConfigurationData pre_locationConfigData 前一个机器人姿态的ST值； 155 | * 2. List current_Solution 所有逆向解的列表； 156 | * 3. robot 参与计算和定义逆向解姿态的机器人； 157 | * 158 | * This process selects inverse kinematic solutions from a list that match the ST values of a previous solution and adds them to a new list of filtered solutions. 159 | * 1. Previous Robot Pose: TxRobotConfigurationData pre_locationConfigData stores the ST values (likely representing specific robot configuration parameters) of the previous robot pose. 160 | * 2. Inverse Kinematic Solutions: List current_Solution contains all calculated inverse kinematic solutions. 161 | * 3. Robot: robot specifies the robot used for calculating and defining the inverse kinematic poses. 162 | */ 163 | 164 | public static ArrayList filterRobot3rdConfigSolution(TxRobotConfigurationData pre_locationConfigData, ArrayList current_Solution, TxRobot robot) 165 | { 166 | ArrayList filter_Solutions = new ArrayList(); 167 | 168 | for (int i = 0; i < current_Solution.Count; i++) 169 | { 170 | // Add J3 & J5 Configuration data into filter function to tighten the ST value; 171 | TxRobotConfigurationData locationConfigData = robot.GetPoseConfiguration((TxPoseData)current_Solution[i]); 172 | if ( 173 | (locationConfigData.OverheadState == pre_locationConfigData.OverheadState) 174 | && 175 | ( 176 | (locationConfigData.JointsConfigurations[2] as TxJointConfigurationData).State 177 | == (pre_locationConfigData.JointsConfigurations[2] as TxJointConfigurationData).State 178 | ) 179 | && 180 | ( 181 | (locationConfigData.JointsConfigurations[4] as TxJointConfigurationData).State 182 | == (pre_locationConfigData.JointsConfigurations[4] as TxJointConfigurationData).State 183 | ) 184 | ) 185 | { 186 | filter_Solutions.Add((TxPoseData)current_Solution[i]); 187 | } 188 | 189 | 190 | } 191 | 192 | 193 | return filter_Solutions; 194 | 195 | 196 | } 197 | static int FindIndex(TxObjectList list, string name) 198 | { 199 | for (int i = 0; i < list.Count; i++) 200 | { 201 | // 从 ArrayList 中获取对象并进行类型转换 202 | ITxObject target = list[i] as ITxObject; 203 | if (target != null && target.Name == name) 204 | { 205 | return i; 206 | } 207 | } 208 | return -1; // 如果未找到匹配项，则返回 -1 209 | } 210 | public static bool OperationOptimize(ref TxWeldOperation _robweldOperation, TxRobot robot) 211 | { 212 | TxTypeFilter opFilter = new TxTypeFilter(); 213 | opFilter.AddIncludedType(typeof(TxWeldLocationOperation)); 214 | //opFilter.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 215 | TxObjectList _robotWeldOpLocation = _robweldOperation.GetAllDescendants(opFilter); 216 | //筛选出轨迹路径中的焊点和过渡点位 217 | TxTypeFilter opFilterpass = new TxTypeFilter(); 218 | opFilterpass.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 219 | TxObjectList _robotviaOpLocation = _robweldOperation.GetAllDescendants(opFilterpass); 220 | opFilter.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 221 | TxObjectList _robotOpLocation = _robweldOperation.GetAllDescendants(opFilter); 222 | /* 223 | * _robotWeldOpLocation包括所有的焊点信息 224 | * _robotviaOpLocation包括所有的过渡点信息； 225 | * _robotOpLocation包括所有的焊点+过渡点的信息； 226 | * 227 | */ 228 | for (int i = 0; i < _robotWeldOpLocation.Count - 1; i++) 229 | { 230 | 231 | //第一个焊点在轨迹中的位置 232 | int _startIndex = FindIndex(_robotOpLocation, _robotWeldOpLocation[i].Name); 233 | //紧邻的第二个焊点在轨迹中的位置； 234 | int _endIndex = FindIndex(_robotOpLocation, _robotWeldOpLocation[i + 1].Name); 235 | _startIndex += 1; //紧邻第一个焊点的过渡点在轨迹中的位置； 236 | _endIndex -= 1;//紧邻第二个焊点的过渡点在轨迹中的位置； 237 | 238 | for (int j = _startIndex + 1; j < _endIndex; j++) // j从前往后，k是从后往前 239 | { 240 | 241 | for (int k = _endIndex - 1; k > j; k--) 242 | { 243 | TxPoseData targetPoseDatastart=new TxPoseData(); 244 | TxPoseData targetPoseDataend =new TxPoseData(); 245 | try 246 | { 247 | targetPoseDatastart = robot.GetPoseAtLocation((_robotOpLocation[j] as TxRoboticViaLocationOperation)); 248 | } 249 | catch (Exception) 250 | { 251 | 252 | TxRobotRRTConnectJoint.logpathGenerateOK(_robotOpLocation[j].Name + " posture get failed"); 253 | continue; 254 | 255 | } 256 | try 257 | { 258 | targetPoseDataend = robot.GetPoseAtLocation((_robotOpLocation[k] as TxRoboticViaLocationOperation)); 259 | } 260 | catch (Exception) 261 | { 262 | 263 | TxRobotRRTConnectJoint.logpathGenerateOK(_robotOpLocation[k].Name+" posture get failed"); 264 | continue; 265 | 266 | } 267 | 268 | 269 | joint start = new joint( 270 | 271 | (double)targetPoseDatastart.JointValues[0], 272 | (double)targetPoseDatastart.JointValues[1], 273 | (double)targetPoseDatastart.JointValues[2], 274 | (double)targetPoseDatastart.JointValues[3], 275 | (double)targetPoseDatastart.JointValues[4], 276 | (double)targetPoseDatastart.JointValues[5], 277 | (_robotOpLocation[j] as TxRoboticViaLocationOperation).RobotExternalAxesData[0].JointValue 278 | ); 279 | 280 | joint end = new joint( 281 | 282 | (double)targetPoseDataend.JointValues[0], 283 | (double)targetPoseDataend.JointValues[1], 284 | (double)targetPoseDataend.JointValues[2], 285 | (double)targetPoseDataend.JointValues[3], 286 | (double)targetPoseDataend.JointValues[4], 287 | (double)targetPoseDataend.JointValues[5], 288 | (_robotOpLocation[k] as TxRoboticViaLocationOperation).RobotExternalAxesData[0].JointValue 289 | ); 290 | 291 | 292 | if (TxRobotRRTConnectJoint.isValidforstepCorss(TxrrtRobotPathPlannerForm.mainTxControl, start, end)) 293 | { 294 | 295 | while (j != k - 1) 296 | { 297 | //将j后面的过渡点删掉，由于删除了过渡点，则_endIndex 和k值也需要相应的减少index; 298 | _robotOpLocation[j + 1].Delete(); 299 | _robotOpLocation.RemoveAt(j + 1); 300 | k--; 301 | _endIndex--; 302 | 303 | } 304 | // j 移动到删除点之后的，再次寻找是否可以找到删除的点; 305 | j = k + 1; 306 | break; 307 | } 308 | else 309 | continue; 310 | 311 | } 312 | 313 | } 314 | } 315 | 316 | return true; 317 | 318 | } 319 | 320 | } 321 | } 322 | -------------------------------------------------------------------------------- /rrtRobot/TxRobotRRTConnectJoint.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/rrtRobot/TxRobotRRTConnectJoint.zip -------------------------------------------------------------------------------- /rrtRobot/TxRobotRRTConnectJointUpdate.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/rrtRobot/TxRobotRRTConnectJointUpdate.zip -------------------------------------------------------------------------------- /rrtRobot/TxrrtRobotPathPlanner.cs: -------------------------------------------------------------------------------- 1 | using Tecnomatix.Engineering; 2 | 3 | 4 | namespace rrtRobot 5 | { 6 | public class TxrrtRobotPathPlanner : TxButtonCommand 7 | { 8 | public override string Category 9 | { 10 | 11 | get 12 | { 13 | return StringTable.Category; 14 | } 15 | } 16 | 17 | public override string Name 18 | { 19 | 20 | get 21 | { 22 | return StringTable.Name; 23 | } 24 | } 25 | 26 | public override void Execute(object cmdParams) 27 | { 28 | 29 | TxrrtRobotPathPlannerForm rob_Form = new TxrrtRobotPathPlannerForm(); 30 | if (!rob_Form.checkLicense()) return; 31 | rob_Form.InitializeComponent(); 32 | rob_Form.Show(); 33 | rob_Form.Form_Setup(); 34 | } 35 | 36 | public override string Bitmap 37 | { 38 | 39 | get 40 | { 41 | return StringTable.Bitmap; 42 | } 43 | } 44 | 45 | public override string LargeBitmap 46 | { 47 | 48 | get 49 | { 50 | //return StringTable.LargeBitmap; 51 | return StringTable.Bitmap; 52 | } 53 | } 54 | 55 | } 56 | } 57 | -------------------------------------------------------------------------------- /rrtRobot/TxrrtRobotPathPlannerForm.Designer.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Windows.Forms.VisualStyles; 3 | using Tecnomatix.Engineering; 4 | using Tecnomatix.Engineering.Ui; 5 | 6 | namespace rrtRobot 7 | { 8 | partial class TxrrtRobotPathPlannerForm 9 | { 10 | /// 11 | /// Required designer variable. 12 | /// 13 | private System.ComponentModel.IContainer components = null; 14 | 15 | /// 16 | /// Clean up any resources being used. 17 | /// 18 | /// true if managed resources should be disposed; otherwise, false. 19 | protected override void Dispose(bool disposing) 20 | { 21 | if (disposing && (components != null)) 22 | { 23 | components.Dispose(); 24 | } 25 | base.Dispose(disposing); 26 | } 27 | 28 | #region Windows Form Designer generated code 29 | 30 | /// 31 | /// Required method for Designer support - do not modify 32 | /// the contents of this method with the code editor. 33 | /// 34 | public void InitializeComponent() 35 | { 36 | System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(TxrrtRobotPathPlannerForm)); 37 | this.Collision_Src = new System.Windows.Forms.Label(); 38 | this.Group_Collision = new System.Windows.Forms.GroupBox(); 39 | this.label4 = new System.Windows.Forms.Label(); 40 | this.m_collisionListPick = new Tecnomatix.Engineering.Ui.TxObjComboBoxCtrl(); 41 | this.label2 = new System.Windows.Forms.Label(); 42 | this.m_pathGenerate = new System.Windows.Forms.Button(); 43 | this.button1 = new System.Windows.Forms.Button(); 44 | this.PathprogressBar = new System.Windows.Forms.ProgressBar(); 45 | this.groupBox1 = new System.Windows.Forms.GroupBox(); 46 | this.textLogfile = new System.Windows.Forms.TextBox(); 47 | this.label3 = new System.Windows.Forms.Label(); 48 | this.groupBox2 = new System.Windows.Forms.GroupBox(); 49 | this.m_GroupTargetOpPick = new Tecnomatix.Engineering.Ui.TxObjEditBoxCtrl(); 50 | this.label6 = new System.Windows.Forms.Label(); 51 | this.label5 = new System.Windows.Forms.Label(); 52 | this.m_spotDirec = new System.Windows.Forms.Label(); 53 | this.Group_Collision.SuspendLayout(); 54 | this.groupBox1.SuspendLayout(); 55 | this.groupBox2.SuspendLayout(); 56 | this.SuspendLayout(); 57 | // 58 | // Collision_Src 59 | // 60 | resources.ApplyResources(this.Collision_Src, "Collision_Src"); 61 | this.Collision_Src.Name = "Collision_Src"; 62 | // 63 | // Group_Collision 64 | // 65 | this.Group_Collision.Controls.Add(this.label4); 66 | this.Group_Collision.Controls.Add(this.m_collisionListPick); 67 | this.Group_Collision.Controls.Add(this.label2); 68 | this.Group_Collision.Controls.Add(this.Collision_Src); 69 | resources.ApplyResources(this.Group_Collision, "Group_Collision"); 70 | this.Group_Collision.Name = "Group_Collision"; 71 | this.Group_Collision.TabStop = false; 72 | // 73 | // label4 74 | // 75 | resources.ApplyResources(this.label4, "label4"); 76 | this.label4.Name = "label4"; 77 | // 78 | // m_collisionListPick 79 | // 80 | this.m_collisionListPick.DropDownHeight = 106; 81 | this.m_collisionListPick.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDown; 82 | resources.ApplyResources(this.m_collisionListPick, "m_collisionListPick"); 83 | this.m_collisionListPick.ListenToPick = true; 84 | this.m_collisionListPick.Name = "m_collisionListPick"; 85 | this.m_collisionListPick.Object = null; 86 | this.m_collisionListPick.PickLevel = Tecnomatix.Engineering.Ui.TxPickLevel.Component; 87 | this.m_collisionListPick.ValidatorType = Tecnomatix.Engineering.Ui.TxValidatorType.AnyLocatableObject; 88 | this.m_collisionListPick.Picked += new Tecnomatix.Engineering.Ui.TxObjComboBoxCtrl_PickedEventHandler(this.m_collisionListPicked); 89 | // 90 | // label2 91 | // 92 | resources.ApplyResources(this.label2, "label2"); 93 | this.label2.Name = "label2"; 94 | // 95 | // m_pathGenerate 96 | // 97 | resources.ApplyResources(this.m_pathGenerate, "m_pathGenerate"); 98 | this.m_pathGenerate.Name = "m_pathGenerate"; 99 | this.m_pathGenerate.UseVisualStyleBackColor = true; 100 | this.m_pathGenerate.Click += new System.EventHandler(this.m_pathGenerate_Click); 101 | // 102 | // button1 103 | // 104 | resources.ApplyResources(this.button1, "button1"); 105 | this.button1.Name = "button1"; 106 | this.button1.UseVisualStyleBackColor = true; 107 | this.button1.Click += new System.EventHandler(this.button1_Click); 108 | // 109 | // PathprogressBar 110 | // 111 | resources.ApplyResources(this.PathprogressBar, "PathprogressBar"); 112 | this.PathprogressBar.Name = "PathprogressBar"; 113 | // 114 | // groupBox1 115 | // 116 | this.groupBox1.Controls.Add(this.textLogfile); 117 | this.groupBox1.Controls.Add(this.label3); 118 | this.groupBox1.Controls.Add(this.PathprogressBar); 119 | resources.ApplyResources(this.groupBox1, "groupBox1"); 120 | this.groupBox1.Name = "groupBox1"; 121 | this.groupBox1.TabStop = false; 122 | // 123 | // textLogfile 124 | // 125 | this.textLogfile.AcceptsReturn = true; 126 | this.textLogfile.BackColor = System.Drawing.SystemColors.ButtonHighlight; 127 | this.textLogfile.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; 128 | resources.ApplyResources(this.textLogfile, "textLogfile"); 129 | this.textLogfile.Name = "textLogfile"; 130 | this.textLogfile.ReadOnly = true; 131 | // 132 | // label3 133 | // 134 | resources.ApplyResources(this.label3, "label3"); 135 | this.label3.Name = "label3"; 136 | // 137 | // groupBox2 138 | // 139 | this.groupBox2.Controls.Add(this.m_GroupTargetOpPick); 140 | this.groupBox2.Controls.Add(this.label6); 141 | this.groupBox2.Controls.Add(this.label5); 142 | resources.ApplyResources(this.groupBox2, "groupBox2"); 143 | this.groupBox2.Name = "groupBox2"; 144 | this.groupBox2.TabStop = false; 145 | // 146 | // m_GroupTargetOpPick 147 | // 148 | this.m_GroupTargetOpPick.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; 149 | this.m_GroupTargetOpPick.KeepFaceEmphasizedWhenControlIsNotFocused = true; 150 | this.m_GroupTargetOpPick.ListenToPick = true; 151 | resources.ApplyResources(this.m_GroupTargetOpPick, "m_GroupTargetOpPick"); 152 | this.m_GroupTargetOpPick.Name = "m_GroupTargetOpPick"; 153 | this.m_GroupTargetOpPick.Object = null; 154 | this.m_GroupTargetOpPick.PickAndClear = false; 155 | this.m_GroupTargetOpPick.PickLevel = Tecnomatix.Engineering.Ui.TxPickLevel.Component; 156 | this.m_GroupTargetOpPick.PickOnly = false; 157 | this.m_GroupTargetOpPick.ReadOnly = false; 158 | this.m_GroupTargetOpPick.ValidatorType = Tecnomatix.Engineering.Ui.TxValidatorType.Operation; 159 | this.m_GroupTargetOpPick.Picked += new Tecnomatix.Engineering.Ui.TxObjEditBoxCtrl_PickedEventHandler(this.txTargetGroupOpEditBoxCtrl_Picked); 160 | // 161 | // label6 162 | // 163 | resources.ApplyResources(this.label6, "label6"); 164 | this.label6.Name = "label6"; 165 | // 166 | // label5 167 | // 168 | resources.ApplyResources(this.label5, "label5"); 169 | this.label5.Name = "label5"; 170 | // 171 | // m_spotDirec 172 | // 173 | resources.ApplyResources(this.m_spotDirec, "m_spotDirec"); 174 | this.m_spotDirec.Name = "m_spotDirec"; 175 | // 176 | // TxrrtRobotPathPlannerForm 177 | // 178 | resources.ApplyResources(this, "$this"); 179 | this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; 180 | this.Controls.Add(this.groupBox2); 181 | this.Controls.Add(this.button1); 182 | this.Controls.Add(this.m_pathGenerate); 183 | this.Controls.Add(this.Group_Collision); 184 | this.Controls.Add(this.groupBox1); 185 | this.MaximizeBox = false; 186 | this.MinimizeBox = false; 187 | this.Name = "TxrrtRobotPathPlannerForm"; 188 | this.SemiModal = false; 189 | this.ShouldCloseOnDocumentUnloading = true; 190 | this.Group_Collision.ResumeLayout(false); 191 | this.Group_Collision.PerformLayout(); 192 | this.groupBox1.ResumeLayout(false); 193 | this.groupBox1.PerformLayout(); 194 | this.groupBox2.ResumeLayout(false); 195 | this.groupBox2.PerformLayout(); 196 | this.ResumeLayout(false); 197 | this.PerformLayout(); 198 | 199 | } 200 | 201 | 202 | 203 | #endregion 204 | 205 | private System.Windows.Forms.Label Collision_Src; 206 | private System.Windows.Forms.GroupBox Group_Collision; 207 | private System.Windows.Forms.Button m_pathGenerate; 208 | private System.Windows.Forms.Button button1; 209 | private System.Windows.Forms.ProgressBar PathprogressBar; 210 | private System.Windows.Forms.GroupBox groupBox1; 211 | private System.Windows.Forms.GroupBox groupBox2; 212 | private System.Windows.Forms.Label label3; 213 | private System.Windows.Forms.Label label2; 214 | private 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CPU 29 | {01846D24-9944-4ABD-9277-6DE06E2CFA08}.Release|x86.Build.0 = Release|Any CPU 30 | EndGlobalSection 31 | GlobalSection(SolutionProperties) = preSolution 32 | HideSolutionNode = FALSE 33 | EndGlobalSection 34 | GlobalSection(ExtensibilityGlobals) = postSolution 35 | SolutionGuid = {872405A9-EA12-4DBB-AFC5-72D5D973A2DB} 36 | EndGlobalSection 37 | EndGlobal 38 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Debug/DLLRANDOMCPP.Build.CppClean.log: -------------------------------------------------------------------------------- 1 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllrandomcpp.pch 2 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\vc141.pdb 3 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\vc141.idb 4 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\pch.obj 5 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\randomcpp.obj 6 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllrandom_cpp.obj 7 | c:\users\ywang246\downloads\informed-rrt-star-main\dllrandom_cpp\debug\dllmain.obj 8 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.lib 9 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.exp 10 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.ilk 11 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.dll 12 | c:\users\ywang246\downloads\informed-rrt-star-main\debug\dllrandomcpp.pdb 13 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllmain.obj 14 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.obj 15 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\pch.obj 16 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\randomcpp.obj 17 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandomcpp.pch 18 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\vc141.idb 19 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\vc141.pdb 20 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.pdb 21 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.dll 22 | c:\users\ywang246\downloads\informed_rrt_star_main\debug\dllrandomcpp.ilk 23 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.command.1.tlog 24 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.read.1.tlog 25 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\cl.write.1.tlog 26 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\dllrandom_cpp.write.1u.tlog 27 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.command.1.tlog 28 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.read.1.tlog 29 | c:\users\ywang246\downloads\informed_rrt_star_main\dllrandom_cpp\debug\dllrandom_cpp.tlog\link.write.1.tlog 30 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Debug/Dllrandom_cpp.log: -------------------------------------------------------------------------------- 1 |  -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Dllrandom_cpp.cpp: -------------------------------------------------------------------------------- 1 | // Dllrandom_cpp.cpp : Defines the exported functions for the DLL. 2 | // 3 | 4 | #include "pch.h" 5 | #include "framework.h" 6 | #include "Dllrandom_cpp.h" 7 | 8 | 9 | // This is an example of an exported variable 10 | DLLRANDOMCPP_API int nDllrandomcpp=0; 11 | 12 | // This is an example of an exported function. 13 | DLLRANDOMCPP_API int fnDllrandomcpp(void) 14 | { 15 | return 0; 16 | } 17 | 18 | // This is the constructor of a class that has been exported. 19 | CDllrandomcpp::CDllrandomcpp() 20 | { 21 | return; 22 | } 23 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Dllrandom_cpp.h: -------------------------------------------------------------------------------- 1 | // The following ifdef block is the standard way of creating macros which make exporting 2 | // from a DLL simpler. All files within this DLL are compiled with the DLLRANDOMCPP_EXPORTS 3 | // symbol defined on the command line. This symbol should not be defined on any project 4 | // that uses this DLL. This way any other project whose source files include this file see 5 | // DLLRANDOMCPP_API functions as being imported from a DLL, whereas this DLL sees symbols 6 | // defined with this macro as being exported. 7 | #ifdef DLLRANDOMCPP_EXPORTS 8 | #define DLLRANDOMCPP_API __declspec(dllexport) 9 | #else 10 | #define DLLRANDOMCPP_API __declspec(dllimport) 11 | #endif 12 | 13 | // This class is exported from the dll 14 | class DLLRANDOMCPP_API CDllrandomcpp { 15 | public: 16 | CDllrandomcpp(void); 17 | // TODO: add your methods here. 18 | }; 19 | 20 | extern DLLRANDOMCPP_API int nDllrandomcpp; 21 | 22 | DLLRANDOMCPP_API int fnDllrandomcpp(void); 23 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Release 10 | Win32 11 | 12 | 13 | Debug 14 | x64 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | 15.0 23 | {35EC40F2-0702-4D09-92B4-D5D24DAC294F} 24 | Win32Proj 25 | Dllrandomcpp 26 | 10.0.17763.0 27 | 28 | 29 | 30 | DynamicLibrary 31 | true 32 | v141 33 | Unicode 34 | 35 | 36 | DynamicLibrary 37 | false 38 | v141 39 | true 40 | Unicode 41 | 42 | 43 | DynamicLibrary 44 | true 45 | v141 46 | Unicode 47 | 48 | 49 | DynamicLibrary 50 | false 51 | v141 52 | true 53 | Unicode 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | DLLRANDOMCPP 75 | true 76 | 77 | 78 | DLLRANDOMCPP 79 | true 80 | C:\Program Files\Tecnomatix_2206.0\eMPower\DotNetCommands\Debug\ 81 | 82 | 83 | DLLRANDOMCPP 84 | false 85 | 86 | 87 | DLLRANDOMCPP 88 | false 89 | 90 | 91 | 92 | Use 93 | Level3 94 | Disabled 95 | true 96 | WIN32;_DEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 97 | true 98 | pch.h 99 | 100 | 101 | Windows 102 | true 103 | false 104 | 105 | 106 | 107 | 108 | Use 109 | Level3 110 | Disabled 111 | true 112 | _DEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 113 | true 114 | pch.h 115 | 116 | 117 | Windows 118 | true 119 | false 120 | 121 | 122 | 123 | 124 | Use 125 | Level3 126 | MaxSpeed 127 | true 128 | true 129 | true 130 | WIN32;NDEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 131 | true 132 | pch.h 133 | 134 | 135 | Windows 136 | true 137 | true 138 | true 139 | false 140 | 141 | 142 | 143 | 144 | Use 145 | Level3 146 | MaxSpeed 147 | true 148 | true 149 | true 150 | NDEBUG;DLLRANDOMCPP_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions) 151 | true 152 | pch.h 153 | 154 | 155 | Windows 156 | true 157 | true 158 | true 159 | false 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | Create 176 | Create 177 | Create 178 | Create 179 | 180 | 181 | 182 | 183 | 184 | 185 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hh;hpp;hxx;hm;inl;inc;ipp;xsd 11 | 12 | 13 | {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} 14 | rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | Header Files 23 | 24 | 25 | Header Files 26 | 27 | 28 | Header Files 29 | 30 | 31 | Header Files 32 | 33 | 34 | 35 | 36 | Source Files 37 | 38 | 39 | Source Files 40 | 41 | 42 | Source Files 43 | 44 | 45 | Source Files 46 | 47 | 48 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/Dllrandom_cpp.vcxproj.user: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Mixed 5 | WindowsLocalDebugger 6 | C:\Program Files\Tecnomatix_2206.0\eMPower\DotNetCommands\Debug\rrtRobot.dll 7 | 8 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/cpp.hint: -------------------------------------------------------------------------------- 1 | #define DLLRANDOMCPP_API __declspec(dllexport) 2 | #define DLLRANDOMCPP_API __declspec(dllimport) 3 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/dllmain.cpp: -------------------------------------------------------------------------------- 1 | // dllmain.cpp : Defines the entry point for the DLL application. 2 | #include "pch.h" 3 | 4 | BOOL APIENTRY DllMain( HMODULE hModule, 5 | DWORD ul_reason_for_call, 6 | LPVOID lpReserved 7 | ) 8 | { 9 | switch (ul_reason_for_call) 10 | { 11 | case DLL_PROCESS_ATTACH: 12 | case DLL_THREAD_ATTACH: 13 | case DLL_THREAD_DETACH: 14 | case DLL_PROCESS_DETACH: 15 | break; 16 | } 17 | return TRUE; 18 | } 19 | 20 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/framework.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers 4 | // Windows Header Files 5 | #include 6 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/pch.cpp: -------------------------------------------------------------------------------- 1 | // pch.cpp: source file corresponding to the pre-compiled header 2 | 3 | #include "pch.h" 4 | 5 | // When you are using pre-compiled headers, this source file is necessary for compilation to succeed. 6 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/pch.h: -------------------------------------------------------------------------------- 1 | // pch.h: This is a precompiled header file. 2 | // Files listed below are compiled only once, improving build performance for future builds. 3 | // This also affects IntelliSense performance, including code completion and many code browsing features. 4 | // However, files listed here are ALL re-compiled if any one of them is updated between builds. 5 | // Do not add files here that you will be updating frequently as this negates the performance advantage. 6 | 7 | #ifndef PCH_H 8 | #define PCH_H 9 | 10 | // add headers that you want to pre-compile here 11 | #ifndef NOMINMAX 12 | # define NOMINMAX 13 | #endif 14 | #include 15 | #include "framework.h" 16 | 17 | 18 | #endif //PCH_H 19 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/randomcpp.cpp: -------------------------------------------------------------------------------- 1 | #include "pch.h" 2 | #include "randomcpp.h" 3 | double numberLimitMax_double() 4 | { 5 | return std::numeric_limits::max(); 6 | 7 | } 8 | 9 | 10 | bool random_inital() 11 | { 12 | goal_gen_ = std::mt19937(goal_rd_()); 13 | goal_dis_ = std::uniform_int_distribution(0, 100); //生成0-100之间均匀分布的随机数,数据类型为int； 14 | area_gen_ = std::mt19937(area_rd_()); 15 | area_dis_ = std::uniform_real_distribution(0, 15); 16 | srand(time(NULL)); 17 | return true; 18 | } 19 | 20 | int generate_goal_dis() 21 | { 22 | int x = goal_dis_(goal_gen_); 23 | return x; 24 | } 25 | 26 | double generate_area_dis() 27 | { 28 | double y = area_dis_(goal_gen_); 29 | return y; 30 | } 31 | 32 | int generate_rand_Int() 33 | { 34 | return rand(); 35 | 36 | 37 | } 38 | 39 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/randomcpp.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | 9 | #define lib_export 10 | #ifdef lib_export 11 | #define cs_lib_api extern "C" __declspec(dllexport) 12 | #else 13 | #define cs_lib_api __declspec(dllimport) 14 | #endif 15 | 16 | #ifdef DLLRANDOMCPP_EXPORTS 17 | #define DLLRANDOMCPP_API __declspec(dllexport) 18 | #else 19 | #define DLLRANDOMCPP_API __declspec(dllimport) 20 | #endif 21 | 22 | 23 | 24 | std::random_device goal_rd_; //goal_rd_() 随机生成一个数字；这里random_device类没有设置随机生成数字的范围； 25 | 26 | std::mt19937 goal_gen_; //生成随机数 27 | std::uniform_int_distribution goal_dis_; 28 | 29 | std::random_device area_rd_;//area_rd_() 随机生成一个数字；这里random_device类没有设置随机生成数字的范围； 30 | std::mt19937 area_gen_;//生成随机数； 31 | std::uniform_real_distribution area_dis_; 32 | 33 | 34 | bool random_inital(); 35 | int generate_goal_dis(); 36 | double generate_area_dis(); 37 | double numberLimitMax_double(); 38 | int generate_rand_Int(); 39 | 40 | extern "C" DLLRANDOMCPP_API bool RANDOM_Init() { return random_inital(); } 41 | 42 | extern "C" DLLRANDOMCPP_API int GenerateGoal_dis() { return generate_goal_dis(); } 43 | 44 | extern "C" DLLRANDOMCPP_API double GenerateArea_dis() { return generate_area_dis(); } 45 | 46 | extern "C" DLLRANDOMCPP_API double Number_Limit_MAX() { return numberLimitMax_double(); } 47 | 48 | extern "C" DLLRANDOMCPP_API int Generate_rand_Int() { return generate_rand_Int(); } 49 | 50 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/x64/Debug/DLLRANDOMCPP.Build.CppClean.log: -------------------------------------------------------------------------------- 1 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandomcpp.pch 2 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\vc141.pdb 3 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\vc141.idb 4 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\pch.obj 5 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\randomcpp.obj 6 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.obj 7 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllmain.obj 8 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.lib 9 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.exp 10 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.ilk 11 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.dll 12 | c:\program files\tecnomatix_2206.0\empower\dotnetcommands\debug\dllrandomcpp.pdb 13 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.command.1.tlog 14 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.read.1.tlog 15 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\cl.write.1.tlog 16 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\dllrandom_cpp.write.1u.tlog 17 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.command.1.tlog 18 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.delete.1.tlog 19 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.read.1.tlog 20 | c:\users\ywang246\source\repos\rrtrobot\rrtrobot\dllrandom_cpp\x64\debug\dllrandom_cpp.tlog\link.write.1.tlog 21 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Dllrandom_cpp/x64/Debug/Dllrandom_cpp.log: -------------------------------------------------------------------------------- 1 |  -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/PdpsMop.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/WYoseanLove/Industry-Robot-Auto-Path-Planner/46195436ecb1dc2ed24b712a4e588b0e148a7d71/rrtRobot_MT/rrtRobot/PdpsMop.dll -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.InteropServices; 3 | 4 | // General Information about an assembly is controlled through the following 5 | // set of attributes. Change these attribute values to modify the information 6 | // associated with an assembly. 7 | [assembly: AssemblyTitle("rrtRobot")] 8 | [assembly: AssemblyDescription("")] 9 | [assembly: AssemblyConfiguration("")] 10 | [assembly: AssemblyCompany("")] 11 | [assembly: AssemblyProduct("rrtRobot")] 12 | [assembly: AssemblyCopyright("Copyright © 2024")] 13 | [assembly: AssemblyTrademark("")] 14 | [assembly: AssemblyCulture("")] 15 | 16 | // Setting ComVisible to false makes the types in this assembly not visible 17 | // to COM components. If you need to access a type in this assembly from 18 | // COM, set the ComVisible attribute to true on that type. 19 | [assembly: ComVisible(false)] 20 | 21 | // The following GUID is for the ID of the typelib if this project is exposed to COM 22 | [assembly: Guid("01846d24-9944-4abd-9277-6de06e2cfa08")] 23 | 24 | // Version information for an assembly consists of the following four values: 25 | // 26 | // Major Version 27 | // Minor Version 28 | // Build Number 29 | // Revision 30 | // 31 | // You can specify all the values or you can default the Build and Revision Numbers 32 | // by using the '*' as shown below: 33 | // [assembly: AssemblyVersion("1.0.*")] 34 | [assembly: AssemblyVersion("1.0.0.0")] 35 | [assembly: AssemblyFileVersion("1.0.0.0")] 36 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/StringTable.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // This code was generated by a tool. 4 | // Runtime Version:4.0.30319.42000 5 | // 6 | // Changes to this file may cause incorrect behavior and will be lost if 7 | // the code is regenerated. 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | namespace rrtRobot { 12 | using System; 13 | 14 | 15 | /// 16 | /// A strongly-typed resource class, for looking up localized strings, etc. 17 | /// 18 | // This class was auto-generated by the StronglyTypedResourceBuilder 19 | // class via a tool like ResGen or Visual Studio. 20 | // To add or remove a member, edit your .ResX file then rerun ResGen 21 | // with the /str option, or rebuild your VS project. 22 | [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")] 23 | [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] 24 | [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] 25 | internal class StringTable { 26 | 27 | private static global::System.Resources.ResourceManager resourceMan; 28 | 29 | private static global::System.Globalization.CultureInfo resourceCulture; 30 | 31 | [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] 32 | internal StringTable() { 33 | } 34 | 35 | /// 36 | /// Returns the cached ResourceManager instance used by this class. 37 | /// 38 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 39 | internal static global::System.Resources.ResourceManager ResourceManager { 40 | get { 41 | if (object.ReferenceEquals(resourceMan, null)) { 42 | global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("rrtRobot.StringTable", typeof(StringTable).Assembly); 43 | resourceMan = temp; 44 | } 45 | return resourceMan; 46 | } 47 | } 48 | 49 | /// 50 | /// Overrides the current thread's CurrentUICulture property for all 51 | /// resource lookups using this strongly typed resource class. 52 | /// 53 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 54 | internal static global::System.Globalization.CultureInfo Culture { 55 | get { 56 | return resourceCulture; 57 | } 58 | set { 59 | resourceCulture = value; 60 | } 61 | } 62 | 63 | /// 64 | /// Looks up a localized string similar to rrtRobot.bmp. 65 | /// 66 | internal static string Bitmap { 67 | get { 68 | return ResourceManager.GetString("Bitmap", resourceCulture); 69 | } 70 | } 71 | 72 | /// 73 | /// Looks up a localized string similar to Develop. 74 | /// 75 | internal static string Category { 76 | get { 77 | return ResourceManager.GetString("Category", resourceCulture); 78 | } 79 | } 80 | 81 | /// 82 | /// Looks up a localized string similar to rrtRobot.jpg. 83 | /// 84 | internal static string LargeBitmap { 85 | get { 86 | return ResourceManager.GetString("LargeBitmap", resourceCulture); 87 | } 88 | } 89 | 90 | /// 91 | /// Looks up a localized string similar to RobAPP. 92 | /// 93 | internal static string Name { 94 | get { 95 | return ResourceManager.GetString("Name", resourceCulture); 96 | } 97 | } 98 | } 99 | } 100 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/StringTable.resx: -------------------------------------------------------------------------------- 1 |  2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | text/microsoft-resx 110 | 111 | 112 | 2.0 113 | 114 | 115 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | 118 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 119 | 120 | 121 | rrtRobot.bmp 122 | 123 | 124 | Develop 125 | 126 | 127 | rrtRobot.jpg 128 | 129 | 130 | RobAPP 131 | 132 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/TxRobotAPIClass.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using System.Text; 6 | using System.Threading.Tasks; 7 | using System.Windows.Forms; 8 | using Tecnomatix.Engineering; 9 | 10 | namespace rrtRobot 11 | { 12 | public class TxRobotAPIClass 13 | { 14 | public static double M_PI = 3.1415926; 15 | 16 | /* TxRobotPostureGenerate(TxRobot robot, ArrayList Solutions, double Gun_openning) 17 | * Update the robot's pose based on the results of the robot inverse kinematics calculation: 18 | * 1. TxRobot robot-Which robot's posture needs updating; 19 | * 20 | * 2. Solutions-an ArrayList, stores all inverse kinematic solutions for the robot poses. 21 | * The robot pose is updated using the first inverse kinematic solution. 22 | * This update is to verify the collision detection results between the robot flange's installed tooling and the environment; 23 | * it is unrelated to path smoothing. The optimal solution will be selected in the path optimization function. 24 | * 25 | * 3. Gun_Opening- The Gun_Opening parameter stores the numerical values for the axis mounted on the robot flange, such as Server Weld Gun; 26 | * 27 | * 根据机器人逆向学运算的结果,更新机器人的姿态: 28 | * 1. robot指的是哪个机器人的姿态需要更新; 29 | * 2. Solutions 作为ArrayList 数据,存储了所有的机器人姿态的逆向解, 30 | * 这里机器人姿态的更新是按照第一个逆向解进行姿态更新, 31 | * 这里更新机器人姿态的目的是为了验证机器人法兰盘安装Tooling的碰撞检测结果, 32 | * 与路径的平滑无关,在路径的优化函数中,会挑选出最优解; 33 | * 3. Gun_Opening 参数存储了法兰盘安装轴的数值例如焊钳 34 | */ 35 | 36 | public static void TxRobotPostureGenerate(Control control, TxRobot robot, ArrayList Solutions, double Gun_openning) 37 | { 38 | 39 | if (control.InvokeRequired) 40 | { 41 | // Use Invoke to call this method on the UI thread 42 | control.Invoke(new Action(TxRobotPostureGenerate), control, robot, Solutions, Gun_openning); 43 | } 44 | else 45 | { 46 | // Execute the main logic of setting the robot and tool poses 47 | if (Solutions.Count == 0) 48 | return; 49 | 50 | TxPoseData poseData = (TxPoseData)Solutions[0]; 51 | robot.CurrentPose = poseData; 52 | 53 | ITxDevice tSelectObject = robot.MountedTools[0] as ITxDevice; 54 | 55 | ArrayList ToolJointValue = new ArrayList(); 56 | ToolJointValue.Add(Gun_openning); 57 | 58 | 59 | TxPoseData txToolPoseData = tSelectObject.CurrentPose; 60 | txToolPoseData.JointValues = ToolJointValue; 61 | tSelectObject.CurrentPose = txToolPoseData; 62 | 63 | } 64 | 65 | 66 | } 67 | 68 | /* public static ArrayList robotInverseCal(TxRobot robot, point target) 69 | * Robot inverse kinematics calculations are performed using the built-in functions of TECNOMATIX. 70 | * Other inverse kinematics functions (custom-defined) can also be substituted. 71 | * 通过TECNOMATIX自带的函数进行机器人逆向学计算，这里也可以更换成其他的逆向学函数(自定义的) 72 | */ 73 | 74 | public static ArrayList robotInverseCal(Control control, TxRobot robot, point target) 75 | { 76 | if (control.InvokeRequired) 77 | { 78 | // Use Invoke to call this method on the UI thread 79 | return (ArrayList)control.Invoke(new Func(robotInverseCal), control, robot, target); 80 | } 81 | else 82 | { 83 | // The main logic of the method 84 | TxRobotInverseData txRobotInverseData = new TxRobotInverseData(); 85 | TxTransformation robotTarget = new TxTransformation(); 86 | TxVector rotation = new TxVector(); 87 | rotation.X = target.rx; 88 | rotation.Y = target.ry; 89 | rotation.Z = target.rz; 90 | 91 | TxTransformation txTransformation = new TxTransformation(); 92 | txTransformation.RotationRPY_XYZ = rotation; 93 | txTransformation.Translation = new TxVector(target.x, target.y, target.z); 94 | 95 | txRobotInverseData.Destination = txTransformation; 96 | 97 | ArrayList solutions = robot.CalcInverseSolutions(txRobotInverseData); 98 | 99 | return solutions; 100 | } 101 | } 102 | /* 103 | * Implement collision detection using TECNOMATIX's internal functions. Call TxCollisionQueryResults via a using statement to guarantee proper disposal of resources. 104 | * 通过TECNOMATIX自带的函数进行碰撞检测，通过using 调用TxCollisionQueryResults，并及时释放资源 105 | */ 106 | 107 | public static bool Collision_Check(Control control, TxCollisionPairCreationData cd, TxCollisionQueryParams queryParams, TxCollisionRoot root, TxObjectList collisionSrc, TxObjectList collisionTar, double Clearance) 108 | { 109 | if (control.InvokeRequired) 110 | { 111 | // Use Invoke to call this method on the UI thread 112 | return (bool)control.Invoke(new Func( 113 | Collision_Check), control, cd, queryParams, root, collisionSrc, collisionTar, Clearance); 114 | } 115 | else 116 | { 117 | // Execute the main logic of the function 118 | queryParams.Mode = TxCollisionQueryParams.TxCollisionQueryMode.DefinedPairs; 119 | queryParams.NearMissDistance = Clearance; 120 | 121 | using (TxCollisionQueryResults results = root.GetCollidingObjects(queryParams)) 122 | { 123 | if (results.States.Count == 0) 124 | { 125 | results.States.Clear(); 126 | cd.Dispose(); 127 | return true; 128 | } 129 | 130 | for (int i = 0; i < results.States.Count; i++) 131 | { 132 | if ((results.States[i] as TxCollisionState).Type == TxCollisionState.TxCollisionStateType.Collision) 133 | { 134 | results.States.Clear(); 135 | cd.Dispose(); 136 | return false; 137 | } 138 | } 139 | return true; 140 | 141 | } 142 | 143 | } 144 | } 145 | 146 | public static void DisposeTxposureData(ArrayList Solutions) 147 | { 148 | if (Solutions.Count == 0) return; 149 | 150 | for (int i = 0; i < Solutions.Count; i++) 151 | { 152 | 153 | (Solutions[i] as TxPoseData).Dispose(); 154 | } 155 | 156 | } 157 | 158 | } 159 | } 160 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/TxRobotPathOptimizePtp.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using Tecnomatix.Engineering; 6 | 7 | namespace rrtRobot 8 | { 9 | public class TxRobotPathOptimizePtp 10 | { 11 | /*TxRoboticViaLocationOperation addrobotPathViaLoc(string name, point p, TxWeldOperation weldOperation, TxRobot robot) 12 | * 在当前选择计算的焊接轨迹中增加过度点； 13 | * 1. name:定义过度点的名称； 14 | * 2. p：过度点的坐标值； 15 | * 3. weldOperation：计算或增加过度点的轨迹； 16 | * 4. robot-当前计算和规划路径的机器人； 17 | * 每个新增加的过度点都定义了相对应的Tooling设备，Tooling的角度值，以及过度点的运动类型，PTP or Line 18 | * 19 | * This code snippet describes adding via points (intermediate points) to a welding trajectory. Let's break down each point: 20 | * name (1): This assigns a unique identifier or name to the via point. This is useful for tracking and debugging. 21 | * p (2): This represents the 3D Cartesian coordinates (x, y, z) of the via point in the robot's workspace. 22 | * weldOperation (3): This likely refers to the welding operation associated with the via point. This could include details like welding parameters (e.g., current, speed, etc.) or instructions for the robot's welding tool. The description implies that this element is either calculated to determine the via point or is used to add the via point to the existing welding trajectory. 23 | * robot (4): Similar to the previous example, this specifies the robot for which the path is being planned. 24 | * Tooling, Angle, and Motion Type (5): Each via point is further defined by: 25 | * Tooling: Specifies the end-effector or tool being used at this via point. This might be a specific welding torch or other tool attached to the robot. 26 | * Angle: This refers to the orientation of the tooling at the via point. Accurate orientation is critical for successful welding. 27 | * Motion Type (PTP or Line): This dictates the type of robot motion used to reach the via point 28 | * PTP (Point-to-Point): The robot moves directly to the point, ignoring the path taken. This is generally faster but less precise. 29 | * Line: The robot moves along a straight line to the point. This provides more control over the path but might be slower. 30 | */ 31 | public static TxRoboticViaLocationOperation addrobotPathViaLoc(string name, point p, TxWeldOperation weldOperation, TxRobot robot) 32 | { 33 | TxRoboticViaLocationOperationCreationData roboticViaLocationOperationCreationData = new TxRoboticViaLocationOperationCreationData(name, "", 2.0); 34 | 35 | TxVector tran = new TxVector(p.x, p.y, p.z); 36 | 37 | TxVector rot = new TxVector(p.rx, p.ry, p.rz); 38 | 39 | roboticViaLocationOperationCreationData.AbsoluteLocation = new TxTransformation(tran, rot, TxTransformation.TxRotationType.RPY_XYZ); 40 | 41 | TxRoboticViaLocationOperation RobFramepostLocation = weldOperation.CreateRoboticViaLocationOperation(roboticViaLocationOperationCreationData); 42 | TxRobotExternalAxisData[] externalAxisData = new TxRobotExternalAxisData[1]; 43 | externalAxisData[0] = new TxRobotExternalAxisData(); 44 | externalAxisData[0].Device = robot.MountedTools[0] as TxServoGun; 45 | externalAxisData[0].Joint = (robot.MountedTools[0] as TxServoGun).DrivingJoints.Last() as TxJoint; 46 | externalAxisData[0].JointValue = p.Gun_Open; 47 | 48 | RobFramepostLocation.RobotExternalAxesData = externalAxisData; 49 | RobFramepostLocation.SetParameter(new TxRoboticIntParam("RRS_MOTION_TYPE", 1)); 50 | 51 | 52 | return RobFramepostLocation; 53 | } 54 | //比较两个角度，并考虑角度的周期性问题(360deg) Compare two angles, taking into account their periodicity (360 degrees). 55 | private static double AngleDifference(double angle1, double angle2) 56 | { 57 | double diff = Math.Abs(angle1 - angle2); 58 | return Math.Min(diff, 2 * Math.PI - diff); 59 | } 60 | //计算某个逆向解与上一个点的总关节角度变化 Calculate the total joint angle change between a given inverse kinematic solution and the previous point. 61 | private static double CalculateTotalDifference(List current_Solution, List pre_Solution) 62 | { 63 | 64 | double totalDifference = 0; 65 | 66 | for (int i = 0; i < current_Solution.Count; i++) 67 | { 68 | totalDifference += AngleDifference(current_Solution[i], pre_Solution[i]); 69 | 70 | } 71 | 72 | return totalDifference; 73 | 74 | 75 | } 76 | /*static int ChooseBestInverseSolution(ArrayList current_Solution, TxPoseData pre_txPoseData,bool AllJointsorNot) 77 | * 从所有逆向解列表中选出最优的逆向解，并定义为机器人在该点处的姿态： 78 | * 1. List current_Solution 所有逆向解的列表； 79 | * 2. pre_txPoseData 与之前的逆向解进行对比，并挑选出最合适的逆向解； 80 | * 3. AllJointsorNot 是否考虑所有的关节角度； 81 | * 如果为true, 则计算所有的6个关节角度，并选出关节角度之和变化最小的逆向解； 82 | * 如果为false, 则只计算1轴，4轴和6轴，此时已默认机器人的ST值进行了定义 83 | * The optimal inverse kinematic solution is selected from the list of available solutions and defined as the robot's pose at that point. 84 | * 1. Inverse Kinematic Solutions: List current_Solution contains all calculated inverse kinematic solutions. 85 | * 2. Comparison with Previous Solution: pre_txPoseData represents the previous inverse kinematic solution. The optimal solution from current_Solution is selected based on its similarity to pre_txPoseData. 86 | * 3. Joint Angle Consideration (AllJointsorNot): This parameter determines which joint angles are considered when selecting the optimal solution. 87 | * true: All six joint angles are considered. The solution with the minimum total change in joint angles (sum of absolute differences) compared to pre_txPoseData is selected. 88 | * false: Only joints 1, 4, and 6 are considered. This assumes that the robot's ST values (likely referring to specific robot parameters or configurations) have already been defined. 89 | * 90 | */ 91 | public static int ChooseBestInverseSolution(ArrayList current_Solution, TxPoseData pre_txPoseData, bool AllJointsorNot) 92 | { 93 | 94 | double minDifference = double.MaxValue; 95 | int bestSulotion = int.MaxValue; 96 | 97 | List pre_Solution = new List(); 98 | if (AllJointsorNot) 99 | { 100 | pre_Solution.Add((double)pre_txPoseData.JointValues[0]); 101 | pre_Solution.Add((double)pre_txPoseData.JointValues[1]); 102 | pre_Solution.Add((double)pre_txPoseData.JointValues[2]); 103 | pre_Solution.Add((double)pre_txPoseData.JointValues[3]); 104 | pre_Solution.Add((double)pre_txPoseData.JointValues[4]); 105 | pre_Solution.Add((double)pre_txPoseData.JointValues[5]); 106 | } 107 | else 108 | { 109 | pre_Solution.Add((double)pre_txPoseData.JointValues[0]); 110 | 111 | pre_Solution.Add((double)pre_txPoseData.JointValues[3]); 112 | 113 | pre_Solution.Add((double)pre_txPoseData.JointValues[5]); 114 | } 115 | 116 | for (int i = 0; i < current_Solution.Count; i++) 117 | { 118 | List varSolution = new List(); 119 | if (AllJointsorNot) 120 | { 121 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[0]); 122 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[1]); 123 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[2]); 124 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[3]); 125 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[4]); 126 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[5]); 127 | } 128 | else 129 | { 130 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[0]); 131 | 132 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[3]); 133 | 134 | varSolution.Add((double)((TxPoseData)(current_Solution[i])).JointValues[5]); 135 | 136 | } 137 | 138 | double totalDifference = CalculateTotalDifference(varSolution, pre_Solution); 139 | 140 | if (totalDifference < minDifference) 141 | { 142 | minDifference = totalDifference; 143 | bestSulotion = i; 144 | } 145 | 146 | } 147 | 148 | 149 | 150 | return bestSulotion; 151 | } 152 | /*static ArrayList filterRobotConfigSolution(TxRobotConfigurationData pre_locationConfigData, ArrayList current_Solution,TxRobot robot) 153 | * 从所有的逆向解列表中挑选出来与之前逆向解ST值相同的逆向解，并加入到新的逆向解清单作为筛选出的逆向解； 154 | * 1. TxRobotConfigurationData pre_locationConfigData 前一个机器人姿态的ST值； 155 | * 2. List current_Solution 所有逆向解的列表； 156 | * 3. robot 参与计算和定义逆向解姿态的机器人； 157 | * 158 | * This process selects inverse kinematic solutions from a list that match the ST values of a previous solution and adds them to a new list of filtered solutions. 159 | * 1. Previous Robot Pose: TxRobotConfigurationData pre_locationConfigData stores the ST values (likely representing specific robot configuration parameters) of the previous robot pose. 160 | * 2. Inverse Kinematic Solutions: List current_Solution contains all calculated inverse kinematic solutions. 161 | * 3. Robot: robot specifies the robot used for calculating and defining the inverse kinematic poses. 162 | */ 163 | 164 | public static ArrayList filterRobot3rdConfigSolution(TxRobotConfigurationData pre_locationConfigData, ArrayList current_Solution, TxRobot robot) 165 | { 166 | ArrayList filter_Solutions = new ArrayList(); 167 | 168 | for (int i = 0; i < current_Solution.Count; i++) 169 | { 170 | // Add J3 & J5 Configuration data into filter function to tighten the ST value; 171 | TxRobotConfigurationData locationConfigData = robot.GetPoseConfiguration((TxPoseData)current_Solution[i]); 172 | if ( 173 | (locationConfigData.OverheadState == pre_locationConfigData.OverheadState) 174 | && 175 | ( 176 | (locationConfigData.JointsConfigurations[2] as TxJointConfigurationData).State 177 | == (pre_locationConfigData.JointsConfigurations[2] as TxJointConfigurationData).State 178 | ) 179 | && 180 | ( 181 | (locationConfigData.JointsConfigurations[4] as TxJointConfigurationData).State 182 | == (pre_locationConfigData.JointsConfigurations[4] as TxJointConfigurationData).State 183 | ) 184 | ) 185 | { 186 | filter_Solutions.Add((TxPoseData)current_Solution[i]); 187 | } 188 | 189 | 190 | } 191 | 192 | 193 | return filter_Solutions; 194 | 195 | 196 | } 197 | static int FindIndex(TxObjectList list, string name) 198 | { 199 | for (int i = 0; i < list.Count; i++) 200 | { 201 | // 从 ArrayList 中获取对象并进行类型转换 202 | ITxObject target = list[i] as ITxObject; 203 | if (target != null && target.Name == name) 204 | { 205 | return i; 206 | } 207 | } 208 | return -1; // 如果未找到匹配项，则返回 -1 209 | } 210 | public static bool OperationOptimize(ref TxWeldOperation _robweldOperation, TxRobot robot) 211 | { 212 | TxTypeFilter opFilter = new TxTypeFilter(); 213 | opFilter.AddIncludedType(typeof(TxWeldLocationOperation)); 214 | //opFilter.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 215 | TxObjectList _robotWeldOpLocation = _robweldOperation.GetAllDescendants(opFilter); 216 | //筛选出轨迹路径中的焊点和过渡点位 217 | TxTypeFilter opFilterpass = new TxTypeFilter(); 218 | opFilterpass.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 219 | TxObjectList _robotviaOpLocation = _robweldOperation.GetAllDescendants(opFilterpass); 220 | opFilter.AddIncludedType(typeof(TxRoboticViaLocationOperation)); 221 | TxObjectList _robotOpLocation = _robweldOperation.GetAllDescendants(opFilter); 222 | /* 223 | * _robotWeldOpLocation包括所有的焊点信息 224 | * _robotviaOpLocation包括所有的过渡点信息； 225 | * _robotOpLocation包括所有的焊点+过渡点的信息； 226 | * 227 | */ 228 | for (int i = 0; i < _robotWeldOpLocation.Count - 1; i++) 229 | { 230 | 231 | //第一个焊点在轨迹中的位置 232 | int _startIndex = FindIndex(_robotOpLocation, _robotWeldOpLocation[i].Name); 233 | //紧邻的第二个焊点在轨迹中的位置； 234 | int _endIndex = FindIndex(_robotOpLocation, _robotWeldOpLocation[i + 1].Name); 235 | _startIndex += 1; //紧邻第一个焊点的过渡点在轨迹中的位置； 236 | _endIndex -= 1;//紧邻第二个焊点的过渡点在轨迹中的位置； 237 | 238 | for (int j = _startIndex + 1; j < _endIndex; j++) // j从前往后，k是从后往前 239 | { 240 | 241 | for (int k = _endIndex - 1; k > j; k--) 242 | { 243 | TxPoseData targetPoseDatastart=new TxPoseData(); 244 | TxPoseData targetPoseDataend =new TxPoseData(); 245 | try 246 | { 247 | targetPoseDatastart = robot.GetPoseAtLocation((_robotOpLocation[j] as TxRoboticViaLocationOperation)); 248 | } 249 | catch (Exception) 250 | { 251 | 252 | TxRobotRRTConnectJoint.logpathGenerateOK(_robotOpLocation[j].Name + " posture get failed"); 253 | continue; 254 | 255 | } 256 | try 257 | { 258 | targetPoseDataend = robot.GetPoseAtLocation((_robotOpLocation[k] as TxRoboticViaLocationOperation)); 259 | } 260 | catch (Exception) 261 | { 262 | 263 | TxRobotRRTConnectJoint.logpathGenerateOK(_robotOpLocation[k].Name+" posture get failed"); 264 | continue; 265 | 266 | } 267 | 268 | 269 | joint start = new joint( 270 | 271 | (double)targetPoseDatastart.JointValues[0], 272 | (double)targetPoseDatastart.JointValues[1], 273 | (double)targetPoseDatastart.JointValues[2], 274 | (double)targetPoseDatastart.JointValues[3], 275 | (double)targetPoseDatastart.JointValues[4], 276 | (double)targetPoseDatastart.JointValues[5], 277 | (_robotOpLocation[j] as TxRoboticViaLocationOperation).RobotExternalAxesData[0].JointValue 278 | ); 279 | 280 | joint end = new joint( 281 | 282 | (double)targetPoseDataend.JointValues[0], 283 | (double)targetPoseDataend.JointValues[1], 284 | (double)targetPoseDataend.JointValues[2], 285 | (double)targetPoseDataend.JointValues[3], 286 | (double)targetPoseDataend.JointValues[4], 287 | (double)targetPoseDataend.JointValues[5], 288 | (_robotOpLocation[k] as TxRoboticViaLocationOperation).RobotExternalAxesData[0].JointValue 289 | ); 290 | 291 | 292 | if (TxRobotRRTConnectJoint.isValidforstepCorss(TxrrtRobotPathPlannerForm.mainTxControl, start, end,100)) 293 | { 294 | 295 | while (j != k - 1) 296 | { 297 | //将j后面的过渡点删掉，由于删除了过渡点，则_endIndex 和k值也需要相应的减少index; 298 | _robotOpLocation[j + 1].Delete(); 299 | _robotOpLocation.RemoveAt(j + 1); 300 | k--; 301 | _endIndex--; 302 | 303 | } 304 | // j 移动到删除点之后的，再次寻找是否可以找到删除的点; 305 | j = k + 1; 306 | break; 307 | } 308 | else 309 | continue; 310 | 311 | } 312 | 313 | } 314 | } 315 | 316 | return true; 317 | 318 | } 319 | 320 | } 321 | } 322 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/TxrrtRobotPathPlanner.cs: -------------------------------------------------------------------------------- 1 | using Tecnomatix.Engineering; 2 | 3 | 4 | namespace rrtRobot 5 | { 6 | public class TxrrtRobotPathPlanner : TxButtonCommand 7 | { 8 | public override string Category 9 | { 10 | 11 | get 12 | { 13 | return StringTable.Category; 14 | } 15 | } 16 | 17 | public override string Name 18 | { 19 | 20 | get 21 | { 22 | return StringTable.Name; 23 | } 24 | } 25 | 26 | public override void Execute(object cmdParams) 27 | { 28 | 29 | TxrrtRobotPathPlannerForm rob_Form = new TxrrtRobotPathPlannerForm(); 30 | if (!rob_Form.checkLicense()) return; 31 | rob_Form.InitializeComponent(); 32 | rob_Form.Show(); 33 | rob_Form.Form_Setup(); 34 | } 35 | 36 | public override string Bitmap 37 | { 38 | 39 | get 40 | { 41 | return StringTable.Bitmap; 42 | } 43 | } 44 | 45 | 46 | } 47 | } 48 | -------------------------------------------------------------------------------- /rrtRobot_MT/rrtRobot/TxrrtRobotPathPlannerForm.Designer.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Windows.Forms.VisualStyles; 3 | using Tecnomatix.Engineering; 4 | using Tecnomatix.Engineering.Ui; 5 | 6 | namespace rrtRobot 7 | { 8 | partial class TxrrtRobotPathPlannerForm 9 | { 10 | /// 11 | /// Required designer variable. 12 | /// 13 | private System.ComponentModel.IContainer components = null; 14 | 15 | /// 16 | /// Clean up any resources being used. 17 | /// 18 | /// true if managed resources should be disposed; otherwise, false. 19 | protected override void Dispose(bool disposing) 20 | { 21 | if (disposing && (components != null)) 22 | { 23 | components.Dispose(); 24 | } 25 | base.Dispose(disposing); 26 | } 27 | 28 | #region Windows Form Designer generated code 29 | 30 | /// 31 | /// Required method for Designer support - do not modify 32 | /// the contents of this method with the code editor. 33 | /// 34 | public void InitializeComponent() 35 | { 36 | System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(TxrrtRobotPathPlannerForm)); 37 | this.m_txTCPFrame = new System.Windows.Forms.TextBox(); 38 | this.m_txRobotName = new Tecnomatix.Engineering.Ui.TxObjEditBoxCtrl(); 39 | this.TCP = new System.Windows.Forms.Label(); 40 | this.Robot_Name = new System.Windows.Forms.Label(); 41 | this.Collision_Src = new System.Windows.Forms.Label(); 42 | this.Group_Collision = new System.Windows.Forms.GroupBox(); 43 | this.label4 = new System.Windows.Forms.Label(); 44 | this.m_collisionListPick = new Tecnomatix.Engineering.Ui.TxObjComboBoxCtrl(); 45 | this.label2 = new System.Windows.Forms.Label(); 46 | this.m_pathGenerate = new System.Windows.Forms.Button(); 47 | this.button1 = new System.Windows.Forms.Button(); 48 | this.PathprogressBar = new System.Windows.Forms.ProgressBar(); 49 | this.groupBox1 = new System.Windows.Forms.GroupBox(); 50 | this.label3 = new System.Windows.Forms.Label(); 51 | this.groupBox2 = new System.Windows.Forms.GroupBox(); 52 | this.label1 = new System.Windows.Forms.Label(); 53 | this.m_spotDirec = new System.Windows.Forms.Label(); 54 | this.Group_Collision.SuspendLayout(); 55 | this.groupBox1.SuspendLayout(); 56 | this.groupBox2.SuspendLayout(); 57 | this.SuspendLayout(); 58 | // 59 | // m_txTCPFrame 60 | // 61 | resources.ApplyResources(this.m_txTCPFrame, "m_txTCPFrame"); 62 | this.m_txTCPFrame.Name = "m_txTCPFrame"; 63 | this.m_txTCPFrame.ReadOnly = true; 64 | // 65 | // m_txRobotName 66 | // 67 | resources.ApplyResources(this.m_txRobotName, "m_txRobotName"); 68 | this.m_txRobotName.KeepFaceEmphasizedWhenControlIsNotFocused = true; 69 | this.m_txRobotName.ListenToPick = true; 70 | this.m_txRobotName.Name = "m_txRobotName"; 71 | this.m_txRobotName.Object = null; 72 | this.m_txRobotName.PickAndClear = false; 73 | this.m_txRobotName.PickLevel = Tecnomatix.Engineering.Ui.TxPickLevel.Component; 74 | this.m_txRobotName.PickOnly = false; 75 | this.m_txRobotName.ReadOnly = false; 76 | this.m_txRobotName.ValidatorType = Tecnomatix.Engineering.Ui.TxValidatorType.Robot; 77 | this.m_txRobotName.Picked += new Tecnomatix.Engineering.Ui.TxObjEditBoxCtrl_PickedEventHandler(this.m_txRobotName_Picked); 78 | // 79 | // TCP 80 | // 81 | resources.ApplyResources(this.TCP, "TCP"); 82 | this.TCP.Name = "TCP"; 83 | // 84 | // Robot_Name 85 | // 86 | resources.ApplyResources(this.Robot_Name, "Robot_Name"); 87 | this.Robot_Name.Name = "Robot_Name"; 88 | // 89 | // Collision_Src 90 | // 91 | resources.ApplyResources(this.Collision_Src, "Collision_Src"); 92 | this.Collision_Src.Name = "Collision_Src"; 93 | // 94 | // Group_Collision 95 | // 96 | this.Group_Collision.Controls.Add(this.label4); 97 | this.Group_Collision.Controls.Add(this.m_collisionListPick); 98 | this.Group_Collision.Controls.Add(this.label2); 99 | this.Group_Collision.Controls.Add(this.Collision_Src); 100 | resources.ApplyResources(this.Group_Collision, "Group_Collision"); 101 | this.Group_Collision.Name = "Group_Collision"; 102 | this.Group_Collision.TabStop = false; 103 | // 104 | // label4 105 | // 106 | resources.ApplyResources(this.label4, "label4"); 107 | this.label4.Name = "label4"; 108 | // 109 | // m_collisionListPick 110 | // 111 | this.m_collisionListPick.DropDownHeight = 106; 112 | this.m_collisionListPick.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDown; 113 | resources.ApplyResources(this.m_collisionListPick, "m_collisionListPick"); 114 | this.m_collisionListPick.ListenToPick = true; 115 | this.m_collisionListPick.Name = "m_collisionListPick"; 116 | this.m_collisionListPick.Object = null; 117 | this.m_collisionListPick.PickLevel = Tecnomatix.Engineering.Ui.TxPickLevel.Component; 118 | this.m_collisionListPick.ValidatorType = Tecnomatix.Engineering.Ui.TxValidatorType.AnyLocatableObject; 119 | this.m_collisionListPick.Picked += new Tecnomatix.Engineering.Ui.TxObjComboBoxCtrl_PickedEventHandler(this.m_collisionListPicked); 120 | // 121 | // label2 122 | // 123 | resources.ApplyResources(this.label2, "label2"); 124 | this.label2.Name = "label2"; 125 | // 126 | // m_pathGenerate 127 | // 128 | resources.ApplyResources(this.m_pathGenerate, "m_pathGenerate"); 129 | this.m_pathGenerate.Name = "m_pathGenerate"; 130 | this.m_pathGenerate.UseVisualStyleBackColor = true; 131 | this.m_pathGenerate.Click += new System.EventHandler(this.m_pathGenerate_Click); 132 | // 133 | // button1 134 | // 135 | resources.ApplyResources(this.button1, "button1"); 136 | this.button1.Name = "button1"; 137 | this.button1.UseVisualStyleBackColor = true; 138 | this.button1.Click += new System.EventHandler(this.button1_Click); 139 | // 140 | // PathprogressBar 141 | // 142 | resources.ApplyResources(this.PathprogressBar, "PathprogressBar"); 143 | this.PathprogressBar.Name = "PathprogressBar"; 144 | // 145 | // groupBox1 146 | // 147 | this.groupBox1.Controls.Add(this.label3); 148 | this.groupBox1.Controls.Add(this.PathprogressBar); 149 | resources.ApplyResources(this.groupBox1, "groupBox1"); 150 | this.groupBox1.Name = "groupBox1"; 151 | this.groupBox1.TabStop = false; 152 | // 153 | // label3 154 | // 155 | resources.ApplyResources(this.label3, "label3"); 156 | this.label3.Name = "label3"; 157 | // 158 | // groupBox2 159 | // 160 | this.groupBox2.Controls.Add(this.label1); 161 | this.groupBox2.Controls.Add(this.m_txTCPFrame); 162 | this.groupBox2.Controls.Add(this.m_txRobotName); 163 | this.groupBox2.Controls.Add(this.TCP); 164 | this.groupBox2.Controls.Add(this.Robot_Name); 165 | resources.ApplyResources(this.groupBox2, "groupBox2"); 166 | this.groupBox2.Name = "groupBox2"; 167 | this.groupBox2.TabStop = false; 168 | // 169 | // label1 170 | // 171 | resources.ApplyResources(this.label1, "label1"); 172 | this.label1.Name = "label1"; 173 | // 174 | // m_spotDirec 175 | // 176 | resources.ApplyResources(this.m_spotDirec, "m_spotDirec"); 177 | this.m_spotDirec.Name = "m_spotDirec"; 178 | // 179 | // TxrrtRobotPathPlannerForm 180 | // 181 | resources.ApplyResources(this, "$this"); 182 | this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; 183 | this.Controls.Add(this.groupBox2); 184 | this.Controls.Add(this.button1); 185 | this.Controls.Add(this.m_pathGenerate); 186 | this.Controls.Add(this.Group_Collision); 187 | this.Controls.Add(this.groupBox1); 188 | this.MaximizeBox = false; 189 | this.MinimizeBox = false; 190 | this.Name = "TxrrtRobotPathPlannerForm"; 191 | this.SemiModal = false; 192 | this.ShouldCloseOnDocumentUnloading = true; 193 | this.Group_Collision.ResumeLayout(false); 194 | this.Group_Collision.PerformLayout(); 195 | this.groupBox1.ResumeLayout(false); 196 | this.groupBox1.PerformLayout(); 197 | this.groupBox2.ResumeLayout(false); 198 | this.groupBox2.PerformLayout(); 199 | this.ResumeLayout(false); 200 | this.PerformLayout(); 201 | 202 | } 203 | 204 | 205 | 206 | #endregion 207 | private System.Windows.Forms.TextBox m_txTCPFrame; 208 | private Tecnomatix.Engineering.Ui.TxObjEditBoxCtrl m_txRobotName; 209 | private System.Windows.Forms.Label TCP; 210 | private System.Windows.Forms.Label Robot_Name; 211 | 212 | private System.Windows.Forms.Label Collision_Src; 213 | private System.Windows.Forms.GroupBox Group_Collision; 214 | private System.Windows.Forms.Button m_pathGenerate; 215 | private System.Windows.Forms.Button button1; 216 | private System.Windows.Forms.ProgressBar PathprogressBar; 217 | private System.Windows.Forms.GroupBox groupBox1; 218 | private System.Windows.Forms.GroupBox groupBox2; 219 | 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