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creation of Kinematic creation data

Siemens Pioneer Siemens Pioneer
Siemens Pioneer

Question:

.       Is there a class for the creation of Kinematic creation data?  i.e I would like to automate the process of creating kinematic but I can only find function and methods to change existing kinematic and nothing to make from scratch.

 

Answer:

 

  1. There is interface ITxKinematicsModellable that is implemented by all model objects that support kinematics (even not only devices, also objects that does not have kinematics yet).

Use that interface to:

  1. Get all TxJoint(s) and TxKinematicLink(s)
  2. Check if the model object supports kinematics and if it is open for modeling
  3. Couple TxJoints of different devices
  4. Create new TxJoint(s) and TxKinematicLink(s)
  5. Note: Kinematics is automatically compiled when creation is done and exception is thrown if compilation fails.