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feat: add MovePtp joint-interpolated move to IRobot #15

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Merged
DanielKow merged 1 commit into from
Jul 11, 2026
Merged

feat: add MovePtp joint-interpolated move to IRobot #15

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11 changes: 11 additions & 0 deletions csharp/RocketWelder.SDK.Devices.Robot/IRobot.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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