Copying current bodies of robot

MaWi81

Hi!

I want to get a full copy of the robots bodies to be stored in another part. Using a bounding box is not accurate enough. How can I do this?

I tried this:
[code]
GraphicComponent rob = station.GraphicComponents["MyRobotsName"];
Mechanism mech = rob as Mechanism;

foreach (GraphicComponent gc in mech.GraphicComponents) {
  Part part = gc as Part;
  if (!part.HasGeometry)
    continue;

  foreach(Body body in part.Bodies)
    p.Bodies.Add((Body) body.Copy());
}
[/code]

This has almost the effect I expected but the copied bodies are representing the standard-pose of the robot at WCS's origin. I wanted the exact copy of the robot's pose and position.

Is there a better way? (Maybe even without casting 100 times?)

MaWi812008-8-18 11:46:27

Johannes Weiman old account

You'll have to apply the transform of the robot part to the copied body:

[code]
foreach (Body body in part.Bodies)
{
    Body newBody = body.Copy() as Body;
    p.Bodies.Add(newBody);
    newBody.Transform.Matrix = part.Transform.GlobalMatrix;
}
[/code]

regards,
Johannes

Johannes Weiman2008-8-18 12:51:28

MaWi81

I did not expect it to be as simple as that. Now it works.

Thank you for your reply!

MaWi81

Now I get an exception when creating an empty part.
[code]
Logger.log(this, "creating " + pathName, LogMessageSeverity.DEBUG);
Path pathPart = new Part();
Logger.log(this, pathName + " created", LogMessageSeverity.DEBUG);
pathPart.Name = pathName;
station.GraphicComponents.Add(pathPart);
Logger.log(this, pathName + " added", LogMessageSeverity.DEBUG);
[/code]
 
And the corresponding stack trace. You can see the log message and afterwards the error of the constructor. I expected empty constructors not to throw exceptions...
[code]19.08.2008 14:16:53 DEBUG [CollisionTesterAddIn.Forms.LearnForm] creating Rohrpostroboter_unten_Path_Empfang15_M=>Path_Empfang15_S
19.08.2008 14:16:53 ERROR [CollisionTesterAddIn.Forms.LearnForm] Ein Aufrufziel hat einen Ausnahmefehler verursacht.:
Server stack trace:
   bei System.RuntimeMethodHandle._InvokeConstructor(Object[] args, SignatureStruct& signature, IntPtr declaringType)
   bei System.RuntimeMethodHandle.InvokeConstructor(Object[] args, SignatureStruct signature, RuntimeTypeHandle declaringType)
   bei System.Reflection.RuntimeConstructorInfo.Invoke(BindingFlags invokeAttr, Binder binder, Object[] parameters, CultureInfo culture)
   bei ABBInternal.VstaServices.HostServices.CreateObject(String canonicalName, String[] canonicalParameterTypeNames, IRemoteArgumentArrayContract args)
   bei System.Runtime.Remoting.Messaging.StackBuilderSink._PrivateP rocessMessage(IntPtr md, Object[] args, Object server, Int32 methodPtr, Boolean fExecuteInContext, Object[]& outArgs)
   bei System.Runtime.Remoting.Messaging.StackBuilderSink.PrivatePr ocessMessage(RuntimeMethodHandle md, Object[] args, Object server, Int32 methodPtr, Boolean fExecuteInContext, Object[]& outArgs)
   bei System.Runtime.Remoting.Messaging.StackBuilderSink.SyncProce ssMessage(IMessage msg, Int32 methodPtr, Boolean fExecuteInContext)

Exception rethrown at [0]:
   bei System.Runtime.Remoting.Proxies.RealProxy.HandleReturnMessag e(IMessage reqMsg, IMessage retMsg)
   bei System.Runtime.Remoting.Proxies.RealProxy.PrivateInvoke(Mess ageData& msgData, Int32 type)
   bei CustomContracts.ICreateObjectContract.CreateObject(String canonicalName, String[] canonicalParameterTypeNames, IRemoteArgumentArrayContract remoteArgs)
   bei ABB.Robotics.RobotStudio.Stations.Part..ctor()
   bei CollisionTesterAddIn.Forms.LearnForm.HandleMovementCompleted (Movement movement)[/code]

In debug-mode I do not get any errors although there should not be a difference between debug and release-mode.
MaWi812008-8-19 14:51:36

MaWi81

Found the problem: Part & body do not seem to be thread-safe.

I applied the creation process into the mainThread and now it works.