/// <summary>
/// Set position of the robot by decart coordinates.
/// </summary>
/// <param name="Position"></param>
public void SetDPosition(Decart Position)
{
// Calculate
Joint configuration = KinematicsStatic.IverseKinematicTask(Position);
this.SetJPosition(configuration);
}
/// <summary>
/// Get position of the robot by decart coordinates
/// </summary>
/// <returns>Decart coordinate.</returns>
public Decart GetDPosition()
{
// Current robot pos.
Joint curJointPos = this.GetJPosition();
// Current robot in XYZPR coordinates.
Decart curDecPos = KinematicsStatic.RightsKinematicTask(curJointPos);
return(curDecPos);
}
