From 82c895db952d2358683c70718ac8073fc310e11e Mon Sep 17 00:00:00 2001
From: Daniel Kowalski <daniel.kowalski@modelingevolution.com>
Date: Sat, 11 Jul 2026 09:00:01 +0200
Subject: [PATCH] feat: add MovePtp joint-interpolated move to IRobot

Default interface method falling back to MoveLin so existing drivers keep compiling; Fairino overrides with native PTP.
---
 csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs b/csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs
index 06e2612..d3e9905 100644
--- a/csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs
+++ b/csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs
@@ -113,6 +113,17 @@ public interface IRobot : IDevice
     /// ABB EGM: ignored — speed is controlled by MaxSpeedDeviation in RAPID.</param>
     int MoveLin(Pose3<double> target, Velocity velocity);
 
+    /// <summary>
+    /// Moves the robot point-to-point (joint-interpolated) to the target pose.
+    /// Unlike <see cref="MoveLin"/>, the TCP does not follow a straight Cartesian line: the
+    /// controller interpolates in joint space, so the motion reaches the pose while avoiding
+    /// singularities and joint limits better. The default implementation falls back to
+    /// <see cref="MoveLin"/> for drivers that do not provide a native PTP move.
+    /// </summary>
+    /// <param name="target">Target pose (X,Y,Z in mm, Rx,Ry,Rz in degrees).</param>
+    /// <param name="velocity">Motion velocity with explicit unit (see <see cref="MoveLin"/>).</param>
+    int MovePtp(Pose3<double> target, Velocity velocity) => MoveLin(target, velocity);
+
     /// <summary>
     /// Moves the robot in a circular arc through pathPoint to target.
     /// </summary>