Beispiel #1
0
 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);
     }
 }
Beispiel #2
0
        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);
        }
Beispiel #3
0
 public void addPath(string cmd)
 {
     ABB.Robotics.Controllers.RapidDomain.RobTarget temp = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
     temp.FillFromString2(cmd);
     positions.Add(temp);
 }
Beispiel #4
0
 public void setPath(int id, string cmd)
 {
     positions[id] = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
     positions[id].FillFromString2(cmd);
 }