/// <summary>
/// 与えられたエンコーダ座標系の地点から最も近いグリッドマーク情報を取得します。
/// </summary>
/// <param name="point">エンコーダ座標系の座標</param>
/// <returns>最も近いグッドマークをエンコーダ座標系で</returns>
public GridMark GetTheNearestGridMark(Vector3 encoderPoint)
{
GridParameter gridParam = parameterManager.GridParameter;
if (gridParam.LoadedGridOriginalFine == false)
{
throw new Exception("null");
}
GridMark retval = new GridMark();
Vector2 pmover = new Vector2();
//Vector2 gmover = new Vector2();
Vector2 gstage = new Vector2();
try {
double[,] gridOriginalFineX = gridParam.GridOriginalFineX;
double[,] gridOriginalFineY = gridParam.GridOriginalFineY;
double minDistance = 99999999.9;
for (int ix = 0; ix < gridOriginalFineX.GetLength(0); ++ix)
{
for (int iy = 0; iy < gridOriginalFineX.GetLength(1); ++iy)
{
double distanceX = gridOriginalFineX[ix, iy] - encoderPoint.X;
double distanceY = gridOriginalFineY[ix, iy] - encoderPoint.Y;
double distance = Math.Sqrt(distanceX * distanceX + distanceY * distanceY);
if (distance < minDistance)
{
minDistance = distance;
retval.x = gridOriginalFineX[ix, iy];
retval.y = gridOriginalFineY[ix, iy];
}
}
}
} catch {
throw new Exception("null");
}
//Ipt.MtoG(0, gmover.X, gmover.Y, ref gstage.X, ref gstage.Y);
Ipt.GToM("p", retval.x, retval.y, ref gstage.X, ref gstage.Y);
retval.x = gstage.X;
retval.y = gstage.Y;
return(retval);
}
/// <summary>
/// 座標の補正値を算出して，返します．
/// </summary>
/// <returns>座標の補正値</returns>
private Vector2 calcOffset()
{
Vector2 offset = new Vector2();
Vector2Int iId = new Vector2Int();
double emX = new double();
double emY = new double();
// 定義されたグリッドマーク数が少ない場合は例外を返す
int num = DefinedGridMarkNum;
if (num < 2)
{
throw new Exception("Grid mark data is few(" + num.ToString() + ").");
}
if (gridMarks[(int)GridMarkPoint.CenterMiddle].Existed)
{
offset.X = gridMarks[(int)GridMarkPoint.CenterMiddle].x;
offset.Y = gridMarks[(int)GridMarkPoint.CenterMiddle].y;
}
else
{
for (int i = 1; i < AllGridMarksNum; ++i)
{
if (gridMarks[i].Existed)
{
iId = getXYGridId(i);
Ipt.GToM("0", gridOrgX[iId.X, iId.Y], gridOrgY[iId.X, iId.Y], ref emX, ref emY);
offset.X += gridMarks[i].x - emX;
offset.Y += gridMarks[i].y - emY;
}
}
offset.X /= DefinedGridMarkNum;
offset.Y /= DefinedGridMarkNum;
}
return(offset);
}
