public static string ForceMode(uint indentLevel, IURMovement movement)
{
string cmd = "";
cmd += Indent(indentLevel) + "force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n";
cmd += Indent(indentLevel) + MoveL(movement.Start);
cmd += Indent(indentLevel) + Sleep(1);
cmd += Indent(indentLevel) + MoveL(movement.End);
cmd += Indent(indentLevel) + "end_force_mode()\n";
return(cmd);
}
public RectangularBoundary(IURMovement scanMove, URPose pose)
{
// define LeftTop corner and RightTop corner positions with URMove
LeftTop = scanMove.Start;
RightTop = scanMove.End;
ScanMovement = scanMove.Movement;
IndexMovement = GetIndexMoveVector(pose);
LeftBottom = LeftTop + IndexMovement;
RightBottom = RightTop + IndexMovement;
}
