public double RadianToDegree(double radian, int i)
{
if (i < 6)
{
return(Robot.RadianToDegree(radian, i));
}
else
{
return(Externals.First(x => x.Joints.Contains(Joints.First(y => y.Number == i))).RadianToDegree(radian, i));
}
}
public double DegreeToRadian(double degree, int i)
{
if (i < 6)
{
return(Robot.DegreeToRadian(degree, i));
}
else
{
return(Externals.First(x => x.Joints.Contains(Joints.First(y => y.Number == i))).DegreeToRadian(degree, i));
}
}
private FeJoint AddNewOrGet_JointByCoordinate(Point3d inPoint)
{
// Rounds the point coordinates
inPoint = RoundedPoint3d(inPoint);
// Already exists in the list?
if (Joints.Any(a => a.Value.Point == inPoint))
{
return(Joints.First(a => a.Value.Point == inPoint).Value);
}
FeJoint newJoint = new FeJoint(_pointCount.ToString(), inPoint);
Joints.Add(newJoint.Id, newJoint);
_pointCount++;
return(newJoint);
}
