public void addPath(List <string> cmds)
{
for (int i = 0; i < cmds.Count; i++)
{
ABB.Robotics.Controllers.RapidDomain.RobTarget temp = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
temp.FillFromString2(cmds[i]);
positions.Add(temp);
}
}
public static ABB.Robotics.Controllers.RapidDomain.RobTarget getRobTarget(double[] trans, double[] rot, double[] robconf)
{
string cmd = "[[";
for (int i = 0; i < 3; i++)
{
cmd = cmd + trans[i].ToString("#0.00");
}
cmd += "],[";
for (int i = 0; i < 4; i++)
{
cmd = cmd + rot[i].ToString("#0.00");
}
cmd += "],[";
for (int i = 0; i < 4; i++)
{
cmd = cmd + robconf[i].ToString("#0.00");
}
cmd += "],[ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]";
ABB.Robotics.Controllers.RapidDomain.RobTarget temp = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
temp.FillFromString2(cmd);
return(temp);
}
public void addPath(string cmd)
{
ABB.Robotics.Controllers.RapidDomain.RobTarget temp = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
temp.FillFromString2(cmd);
positions.Add(temp);
}
public void setPath(int id, string cmd)
{
positions[id] = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
positions[id].FillFromString2(cmd);
}