public bool MoveAbsAsync(IPlatformPos pos, double[] vel = null)
{
if (!RunSafeCheck(Task == null ? SafeCheckType.Manual : SafeCheckType.Auto))
{
return(false);
}
return(Axis.MoveAbsAsync(Task, pos.Data(), vel ?? Vel));
}
public bool Jump(IPlatformPos pos, double jumpHeight = 0, double[] vel = null, int timeout = -1, bool checkLimit = true, double zLimit = 0d)
{
if (!RunSafeCheck(Task == null ? SafeCheckType.Manual : SafeCheckType.Auto))
{
return(false);
}
return(Axis.Jump(Task, pos.Data(), vel ?? Vel, jumpHeight, timeout, checkLimit, zLimit));
}
public bool MoveAbs(IPlatformPos pos, double[] vel = null, int timeout = -1, bool checkLimit = true)
{
if (!RunSafeCheck(Task == null ? SafeCheckType.Manual : SafeCheckType.Auto))
{
return(false);
}
return(Axis.MoveAbs(Task, pos.Data(), vel ?? Vel, timeout, checkLimit));
}
public bool MoveAbs(int i, IPlatformPos pos, int timeout = -1, bool checkLimit = true)
{
if (!RunSafeCheck(Task == null ? SafeCheckType.Manual : SafeCheckType.Auto, i))
{
return(false);
}
return(Axis[i] != null && Axis[i].MoveAbs(Task, pos.Data()[i], Axis[i].AxisSpeed, timeout, checkLimit));
}
public double DistanceTo(IPlatformPos pos)
{
if (pos is PosXYZU)
{
var oldPos = (PosXYZU)pos;
var p = (this - oldPos);
return(Math.Sqrt(p.X * p.X + p.Y * p.Y + p.Z * p.Z + p.U * p.U));
}
throw new Exception("DistanceTo Pos Type Error");
}
public double DistanceTo(IPlatformPos pos)
{
if (pos is PosXYZUVW)
{
var xyz = (PosXYZUVW)pos;
var p = (this - xyz);
return(Math.Sqrt(p.X * p.X + p.Y * p.Y + p.Z * p.Z + p.U * p.U + p.V * p.V + p.W * p.W));
}
throw new Exception("Pos Type Error");
}
public double DistanceTo(IPlatformPos pos)
{
throw new NotImplementedException();
}
