Integrated Resource: kinematic_motion_representation

Schema: kinematic_motion_representation_schema

Source : ISO 10303-105



SCHEMA kinematic_motion_representation_schema;


         REFERENCE FROM 
         geometry_schema   -- ISO 10303-42
  (axis2_placement,

           
         b_spline_curve,

           
         b_spline_surface,

           
         bounded_curve,

           
         cartesian_point,

           
         curve,

           
         geometric_representation_context,

           
         geometric_representation_item,

           
         placement,

           
         transition_code);


         REFERENCE FROM 
         kinematic_state_schema   -- ISO 10303-105
  (rotation_about_direction,

           
         spatial_rotation,

           
         ypr_rotation,

           
         mechanism_state_representation);


         REFERENCE FROM 
         kinematic_structure_schema   -- ISO 10303-105
  (kinematic_link_representation,

           
         mechanism_representation,

           
         rigid_placement);


         REFERENCE FROM 
         measure_schema   -- ISO 10303-41
  (length_measure,

           
         measure_with_unit,

           
         parameter_value,

           
         plane_angle_measure,

           
         unit);


         REFERENCE FROM 
         product_property_representation_schema   -- ISO 10303-41
  (shape_representation);


         REFERENCE FROM 
         representation_schema   -- ISO 10303-43
  (definitional_representation,

           
         founded_item,

           
         functionally_defined_transformation,

           
         item_defined_transformation,

           
         item_in_context,

           
         parametric_representation_context,

           
         representation,

           
         representation_item,

           
         representation_relationship,

           
         definitional_representation_relationship,

           
         representation_relationship_with_transformation,

           
         using_representations);


TYPE interpolation_type =
         
         ENUMERATION
         
         OF
         

            
         (undefined_interpolation_type,
    discontinuous_interpolation_type,
    synchronous_interpolation_type,
    linear_interpolation_type);

         END_TYPE;


TYPE link_or_shape_representation =
         
         
         SELECT

            (kinematic_link_representation, 
    shape_representation);

         END_TYPE;


ENTITY circular_path

           SUBTYPE OF (path_node);

           via_point : cartesian_point;

         
         END_ENTITY;


ENTITY curve_based_path

           SUBTYPE OF (path_node);

           path_curve : curve;

         
         END_ENTITY;


ENTITY curve_based_path_with_orientation

           SUBTYPE OF (kinematic_path_segment);

           position_curve : bounded_curve;

           orientation_curve : bounded_curve;
WHERE

           WR1: TYPEOF(position_curve) = TYPEOF(orientation_curve);

         
         END_ENTITY;


ENTITY curve_based_path_with_orientation_and_parameters

           SUBTYPE OF (curve_based_path_with_orientation);

           parameters : path_parameter_representation;

         
         END_ENTITY;


ENTITY geometric_representation_context_with_parameter

           SUBTYPE OF (geometric_representation_context);

           parameter_unit : 
         OPTIONAL 
         unit;

         
         END_ENTITY;


ENTITY interpolated_configuration_representation

           SUBTYPE OF (representation);

           SELF\representation.context_of_items : geometric_representation_context_with_parameter;

           SELF\representation.items : SET[1:?] OF interpolated_configuration_sequence;

         
         END_ENTITY;


ENTITY interpolated_configuration_segment

           SUBTYPE OF (founded_item);

           state : mechanism_state_representation;

           t_parameter : parameter_value;

           interpolation : interpolation_type;

         
         END_ENTITY;


ENTITY interpolated_configuration_sequence

           SUBTYPE OF (geometric_representation_item);

           segments : LIST[2:?] OF interpolated_configuration_segment;
DERIVE

           n_segments : INTEGER := SIZEOF(segments);

           closed_interpolation : LOGICAL := segments[n_segments].interpolation <> discontinuous_interpolation_type;

           configured_mechanism : mechanism_representation := segments[1].state.represented_mechanism;
WHERE

           WR1: SIZEOF(QUERY(ics <* segments | ics.state.represented_mechanism :<>: configured_mechanism)) = 0;

         
         END_ENTITY;


ENTITY item_link_motion_relationship

           SUBTYPE OF (link_motion_relationship);

           SELF\representation_relationship.rep_1 : shape_representation;

           item : geometric_representation_item;

         
         END_ENTITY;


ENTITY kinematic_path
         ABSTRACT

           SUPERTYPE OF 
         (ONEOF (kinematic_path_defined_by_nodes,
                       kinematic_path_defined_by_curves))

           SUBTYPE OF (geometric_representation_item);

           segments : LIST[1:?] OF kinematic_path_segment;

           t_start : parameter_value;
DERIVE

           n_segments : INTEGER := SIZEOF(segments);

           closed_path : LOGICAL := segments[n_segments].transition <> discontinuous;
WHERE

           WR1: SIZEOF(QUERY(using_rep                <* using_representations(SELF)                | NOT ('KINEMATIC_MOTION_REPRESENTATION_SCHEMA.GEOMETRIC_REPRESENTATION_CONTEXT_WITH_PARAMETER'
            IN                       TYPEOF(using_rep.context_of_items)))) =   0;

         
         END_ENTITY;


ENTITY kinematic_path_defined_by_curves

           SUBTYPE OF (kinematic_path);

           SELF\kinematic_path.segments : LIST[1:?] OF curve_based_path_with_orientation;

         
         END_ENTITY;


ENTITY kinematic_path_defined_by_nodes

           SUBTYPE OF (kinematic_path);

           SELF\kinematic_path.segments : LIST[1:?] OF path_node;

           placement_start : placement;

         
         END_ENTITY;


ENTITY kinematic_path_segment
         ABSTRACT

           SUPERTYPE OF 
         (ONEOF (path_node,
                       curve_based_path_with_orientation))

           SUBTYPE OF (founded_item);

           t_end : parameter_value;

           transition : transition_code;

         
         END_ENTITY;


ENTITY linear_path

           SUBTYPE OF (path_node);
DERIVE

           SELF\kinematic_path_segment.transition : transition_code := continuous;

         
         END_ENTITY;


ENTITY link_motion_relationship

           SUBTYPE OF (definitional_representation_relationship, representation_relationship_with_transformation);

           SELF\representation_relationship.rep_1 : link_or_shape_representation;

           SELF\representation_relationship.rep_2 : link_motion_representation_along_path;

           SELF\representation_relationship_with_transformation.transformation_operator : link_motion_transformation;
WHERE

           WR1: transformation_operator\item_defined_transformation.transform_item_1 IN rep_1.items;

           WR2: transformation_operator\item_defined_transformation.transform_item_2 IN rep_2.items;

         
         END_ENTITY;


ENTITY link_motion_representation_along_path

           SUBTYPE OF (representation);

           SELF\representation.items : SET[1:?] OF kinematic_path;

           SELF\representation.context_of_items : geometric_representation_context_with_parameter;

         
         END_ENTITY;


ENTITY link_motion_transformation

           SUBTYPE OF (item_defined_transformation);

           SELF\item_defined_transformation.transform_item_1 : rigid_placement;

           SELF\item_defined_transformation.transform_item_2 : kinematic_path;

         
         END_ENTITY;


ENTITY path_node
         ABSTRACT

           SUPERTYPE OF 
         (ONEOF (point_to_point_path,
                       circular_path,
                       linear_path,
                       curve_based_path))

           SUBTYPE OF (kinematic_path_segment);

           placement_end : placement;

         
         END_ENTITY;


ENTITY path_parameter_representation

           SUBTYPE OF (definitional_representation);

           SELF\representation.context_of_items : path_parameter_representation_context;

           SELF\representation.items : SET[1:?] OF bounded_curve;
WHERE

           WR1: SELF\representation.context_of_items\geometric_representation_context.coordinate_space_dimension = 2;

         
         END_ENTITY;


ENTITY path_parameter_representation_context

           SUBTYPE OF (geometric_representation_context, parametric_representation_context);

         
         END_ENTITY;


ENTITY point_to_point_path

           SUBTYPE OF (path_node);
DERIVE

           SELF\kinematic_path_segment.transition : transition_code := discontinuous;

         
         END_ENTITY;


SUBTYPE_CONSTRAINT kmr_geometric_representation_context_subtypes FOR geometric_representation_context;

           ONEOF (geometric_representation_context_with_parameter,
         path_parameter_representation_context);
      
         END_SUBTYPE_CONSTRAINT;


SUBTYPE_CONSTRAINT kmr_geometric_representation_item_subtypes FOR geometric_representation_item;

           ONEOF (kinematic_path,
         placement);
      
         END_SUBTYPE_CONSTRAINT;


SUBTYPE_CONSTRAINT kmr_representation_subtypes FOR representation;

           ONEOF (interpolated_configuration_representation,
         link_motion_representation_along_path);
      
         END_SUBTYPE_CONSTRAINT;



         END_SCHEMA;  -- kinematic_motion_representation_schema