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); }