public URRobotCoOrdinate GetCurrentLocation()
{
URRobotCoOrdinate coord = new URRobotCoOrdinate();
coord.x = URRobotStatus.ToolVectorActual_1;
coord.y = URRobotStatus.ToolVectorActual_2;
coord.z = URRobotStatus.ToolVectorActual_3;
coord.qx = URRobotStatus.ToolVectorActual_4;
coord.qy = URRobotStatus.ToolVectorActual_5;
coord.qz = URRobotStatus.ToolVectorActual_6;
return(coord);
}
public static URRobotCoOrdinate operator -(URRobotCoOrdinate r1, URRobotCoOrdinate r2)
{
URRobotCoOrdinate newVal = new URRobotCoOrdinate();
newVal.x = r1.x - r2.x;
newVal.y = r1.y - r2.y;
newVal.z = r1.z - r2.z;
newVal.qx = r1.qx - r2.qx;
newVal.qy = r1.qy - r2.qy;
newVal.qz = r1.qz - r2.qz;
return(newVal);
}