//------------------------------------------------------------
// Tính toán tọa độ tính toán autocalib theo tool, object
//------------------------------------------------------------
public AlignPointObject XT(int toolNum, int objectNum, AlignPointObject visionPoint, CalibInfoObject calibInfo)
{
if ((toolNum > 2) || (toolNum < 1) || (objectNum > 2) || (objectNum < 1))
{
return(null);
}
try
{
AlignPointObject masterRBPoint = new AlignPointObject();
VisionMatrixObject masterPBase = new VisionMatrixObject();
//------------------------------------------------------------
// lấy giá trị master theo tool, object tương ứng
//------------------------------------------------------------
//double condition = toolNum + objectNum * 0.1;
//switch (condition)
//{
// case (1.1):
// masterPBase = PBase11;
// masterRBPoint = Master11;
// break;
// case (1.2):
// masterPBase = PBase12;
// masterRBPoint = Master12;
// break;
// case (2.1):
// masterPBase = PBase21;
// masterRBPoint = Master21;
// break;
// case (2.2):
// masterPBase = PBase22;
// masterRBPoint = Master22;
// break;
// default:
// break;
//}
//------------------------------------------------------------
// Tính toán PAlign
//------------------------------------------------------------
VisionMatrixObject pBaseInvert = AlignSupports.Invert(masterPBase);
VisionMatrixObject pVision = AlignSupports.ConvertPointToMatrix(visionPoint);
VisionMatrixObject pRobot = AlignSupports.Mul(pVision, pBaseInvert);
//------------------------------------------------------------
// Tính toán tọa độ tâm tool Robot, chuyển đổi tọa độ từ hệ Vision sang hệ Robot
//------------------------------------------------------------
AlignPointObject pointRBInVisionBase = AlignSupports.ConvertMatrixToPoint(pRobot);
AlignPointObject pointRB = AlignSupports.ConvertPointCalibNPoint(pointRBInVisionBase, calibInfo.CalibCamToRobot);
//------------------------------------------------------------
// Tính toán Offset trả về Robot
//------------------------------------------------------------
AlignPointObject pointRBOffset = AlignSupports.CalPointOffset(pointRB, masterRBPoint);
return(pointRBOffset);
}
catch
{
return(null);
}
}
//------------------------------------------------------------
// Tính toán master theo tool, object
//------------------------------------------------------------
public bool TT(int toolNum, int objectNum, AlignPointObject visionPoint, AlignPointObject robotPoint, CalibInfoObject calibInfo)
{
if ((toolNum > 2) || (toolNum < 1) || (objectNum > 2) || (objectNum < 1))
{
return(false);
}
try
{
//------------------------------------------------------------
// Mặc định sử dụng điểm master Robot lấy góc == 0
//------------------------------------------------------------
AlignPointObject masterRBPoint = new AlignPointObject(robotPoint.X, robotPoint.Y, (float)0.0);
VisionMatrixObject masterPBase = new VisionMatrixObject();
AlignPointObject masterRBInVisionBase = AlignSupports.ConvertPointCalibNPoint(masterRBPoint, calibInfo.CalibRobotToCam);
VisionMatrixObject masterPRobot = AlignSupports.ConvertPointToMatrix(masterRBInVisionBase);
VisionMatrixObject masterPRobotInv = AlignSupports.Invert(masterPRobot);
VisionMatrixObject masterPVision = AlignSupports.ConvertPointToMatrix(visionPoint);
//------------------------------------------------------------
// Tính toán PBase = PRobotInv * PVision
//------------------------------------------------------------
masterPBase = AlignSupports.Mul(masterPRobotInv, masterPVision);
//------------------------------------------------------------
// Lưu giá trị master theo tool, object tương ứng
//------------------------------------------------------------
//switch (toolNum + objectNum * 0.1)
//{
// case (1.1):
// PBase11 = masterPBase;
// Master11 = masterRBPoint;
// break;
// case (1.2):
// PBase12 = masterPBase;
// Master12 = masterRBPoint;
// break;
// case (2.1):
// PBase21 = masterPBase;
// Master21 = masterRBPoint;
// break;
// case (2.2):
// PBase22 = masterPBase;
// Master22 = masterRBPoint;
// break;
// default:
// break;
//}
}
catch
{
return(false);
}
return(true);
}
