public bool defineVector(SIRVector sir)
{
return _wrapper.defineVectorWrapped(Wrapper.enumAxisSettings.AXIS_ROBOT, sir.Name, (short) sir.getSize());
}
public bool teach(SIRVector vector)
{
return _wrapper.teachWrapped(vector);
}
public bool teachWrapped(SIRVector vecTheSirVector)
{
int iReturn;
for (short i = 0; i < vecTheSirVector.getSize(); i++)
{
VecPoint pTmp = vecTheSirVector.getPoint(i);
int x, y, z, pitch, roll;
x = pTmp.iX;
y = pTmp.iY;
z = pTmp.iZ;
pitch = pTmp.iPitch;
roll = pTmp.iRoll;
int[] iArray = new int[]{x, y, z, pitch, roll};
iReturn = _dll.Teach(vecTheSirVector.Name, (short)(i+1), iArray, 5, vecTheSirVector.Type);
if (iReturn == 0)
return (false);
}
return (true);
}
