/// <summary>
/// 背光定位，不规则区域，计算并发送角度到robot1
/// </summary>
/// <param name="precisePos">精定位拍照位置</param>
/// <param name="cmdAngle">与bot的协议，表示拍照ok</param>
/// <param name="cmdError">与bot的协议，表示拍照失败</param>
/// <param name="threadR">角度阈值</param>
/// <param name="deltar">算子直接获得的角度</param>
/// <param name="displayType">画面设置，影响角度计算</param>
/// <param name="id">unique id</param>
/// <param name="ifRecord">是否进行数据记录</param>
/// <param name="r">输出计算后不要补正的角度偏差</param>
/// <returns></returns>
public static bool BlobAngleCalc(double deltar, Point4D precisePos, string cmdAngle, string cmdError,
double threadR, BackLightDisplay_Enum displayType, int id, bool ifRecord, out double r)
{
r = 0;
try
{
r = GetDeltaR(deltar, displayType);
if (Math.Abs(r) > threadR)
{
ShowAlarm("精确定位处角度:" + r.ToString(ReservDigits) + "超过设定阈值:" + threadR.ToString(ReservDigits));
LogicRobot.L_I.WriteRobotCMD(cmdError);
return(false);
}
ShowState("玻璃精确定位处角度:" + r.ToString(ReservDigits));
//发送角度让机器人调整,第一次拍照结果
LogicRobot.L_I.WriteRobotCMD(precisePos.Add(3, r), cmdAngle);
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
finally
{
if (ifRecord)
{
RecordPreciseData(id, "角度" + r.ToString());
}
}
}
// This method performs the Point4D operations
//<SnippetMil4DPoints3DN1>
private void PerformOperation(object sender, System.Windows.RoutedEventArgs e)
{
//RadioButton li = ((sender as RadioButtonList).SelectedItem as RadioButton);
RadioButton li = (sender as RadioButton);
// Strings used to display the results
String syntaxString, resultType, operationString;
// The local variables point1, point2, vector2, etc are defined in each
// case block for readability reasons. Each variable is contained within
// the scope of each case statement.
//</SnippetMil4DPoints3DN1>
switch (li.Name)
{ //begin switch
case "rb1":
{
//<SnippetMil4DPoints3DN3>
// Add a Point4D to a Point4D using the overloaded + operator.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Point4D pointResult = new Point4D();
pointResult = point1 + point2;
// pointResult is equal to (25, 45, 61, 79))
// Displaying Results
syntaxString = "pointResult = point1 + point2;";
resultType = "Point4D";
operationString = "Adding a 3D Point and a 3D Vector";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN3>
break;
}
case "rb2":
{
//<SnippetMil4DPoints3DN4>
// Add a Point4D to a Point4D using the static Add method.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Point4D pointResult = new Point4D();
pointResult = Point4D.Add(point1, point2);
// pointResult is equal to (25, 45, 61, 79)
// Displaying Results
syntaxString = "pointResult = Point4D.Add(point1, point2);";
resultType = "Point4D";
operationString = "Adding a 3D Point and a 3D Vector";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN4>
break;
}
case "rb3":
{
//<SnippetMil4DPoints3DN5>
// Subtracts a Point4D from a Point4D using the overloaded - operator.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Point4D pointResult = new Point4D();
pointResult = point1 - point2;
// pointResult is equal to (-5, -35, -59, -71)
// Displaying Results
syntaxString = "pointResult = point1 - point2;";
resultType = "Point4D";
operationString = "Subtracting a Vector3D from a Point4D";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN5>
break;
}
case "rb4":
{
//<SnippetMil4DPoints3DN6>
// Subtracts a Point3D from a Point4D using the static Subtract method.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Point4D pointResult = new Point4D();
pointResult = Point4D.Subtract(point1, point2);
// pointResult is equal to (-5, -35, -59, -71)
// Displaying Results
syntaxString = "pointResult = Point4D.Subtract(point1, point2);";
resultType = "Point4D";
operationString = "Subtracting a Vector3D from a Point4D";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN6>
break;
}
case "rb5":
{
//<SnippetMil4DPoints3DN7>
// Offsets the X, Y, Z, and W values of a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
point1.Offset(20, 30, 40, 50);
// point1 is equal to (30, 35, 41, 54)
// Displaying Results
syntaxString = "point1.Offset(20, 30, 41, 54);";
resultType = "Point4D";
operationString = "Offsetting a Point4D";
ShowResults(point1.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN7>
break;
}
case "rb6":
{
//<SnippetMil4DPoints3DN8>
// Multiplies a Point4D by a Matrix.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D pointResult = new Point4D();
Matrix3D matrix1 = new Matrix3D(10, 10, 10, 0, 20, 20, 20, 0, 30, 30, 30, 0, 5, 10, 15, 1);
pointResult = point1 * matrix1;
// pointResult is equal to (250, 270, 290, 4)
// Displaying Results
resultType = "Point4D";
syntaxString = "pointResult = point1 * matrix1;";
operationString = "Multiplying a Point4D by a Matrix3D";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN8>
break;
}
case "rb7":
{
//<SnippetMil4DPoints3DN9>
// Multiplies a Point4D by a Matrix.
// Returns a Point4D.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D pointResult = new Point4D();
Matrix3D matrix1 = new Matrix3D(10, 10, 10, 0, 20, 20, 20, 0, 30, 30, 30, 0, 5, 10, 15, 1);
pointResult = Point4D.Multiply(point1, matrix1);
// pointResult is equal to (250, 270, 290, 4)
// Displaying Results
resultType = "Point4D";
syntaxString = "pointResult = Point4D.Multiply(point1, matrix1);";
operationString = "Multiplying a Point4D by a Matrix3D";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN9>
break;
}
case "rb8":
{
//<SnippetMil4DPoints3DN10>
// Checks if two Point4D structures are equal using the overloaded equality operator.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Boolean areEqual;
areEqual = (point1 == point2);
// areEqual is False
// Displaying Results
syntaxString = "areEqual = (point1 == point2);";
resultType = "Boolean";
operationString = "Checking if two 3D points are equal";
ShowResults(areEqual.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN10>
break;
}
case "rb9":
{
//<SnippetMil4DPoints3DN11>
// Checks if two Point4D structures are equal using the static Equals method.
// point1's x,y,z,w properties set when the structure is created
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D();
Boolean areEqual;
// settting point2's x,y,z,w properties
point2.X = 15;
point2.Y = 40;
point2.Z = 60;
point2.W = 75;
areEqual = Point4D.Equals(point1, point2);
// areEqual is False
//Displaying Results
syntaxString = "areEqual = Point4D.Equals(point1, point2);";
resultType = "Boolean";
operationString = "Checking if 3D two points are equal";
ShowResults(areEqual.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN11>
break;
}
case "rb10":
{
//<SnippetMil4DPoints3DN12>
// Compares an Object and a Point4D for equality using the non-static Equals method.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Boolean areEqual;
areEqual = point1.Equals(point2);
// areEqual is False. point2 is a Point4D structure, but it is not equal to point1.
// Displaying Results
syntaxString = "areEqual = point1.Equals(point2);";
resultType = "Boolean";
operationString = "Checking if two 3D points are equal";
ShowResults(areEqual.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN12>
break;
}
case "rb11":
{
//<SnippetMil4DPoints3DN13>
// Converts a string representation of a 4D point into a Point4D structure.
Point4D pointResult = new Point4D();
pointResult = Point4D.Parse("1,3,5,7");
// pointResult is equal to (1, 3, 5, 7)
// Displaying Results
syntaxString = "pointResult = Point4D.Parse(\"1,3,5,7\");";
resultType = "Point4D";
operationString = "Converts a string into a Point4D structure.";
ShowResults(pointResult.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN13>
break;
}
case "rb12":
{
//<SnippetMil4DPoints3DN14>
// Checks if two Point4Ds are not equal using the overloaded inequality operator.
Point4D point1 = new Point4D(10, 5, 1, 4);
Point4D point2 = new Point4D(15, 40, 60, 75);
Boolean areNotEqual;
areNotEqual = (point1 != point2);
// areNotEqual is True
// Displaying Results
syntaxString = "areNotEqual = (point1 != point2);";
resultType = "Boolean";
operationString = "Checking if two 3D points are not equal";
ShowResults(areNotEqual.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN14>
break;
}
case "rb13":
{
//<SnippetMil4DPoints3DN15>
// Gets a string representation of the structure
Point4D point1 = new Point4D(10, 5, 1, 4);
String pointString;
pointString = point1.ToString();
// matrixString is equal to 10, 5, 1, 4
// Displaying Results
syntaxString = "pointString = point1.ToString();";
resultType = "String";
operationString = "Getting the string representation of a Point4D";
ShowResults(pointString.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN15>
break;
}
case "rb14":
{
//<SnippetMil4DPoints3DN16>
// Gets the hashcode of a Point4D structure
Point4D point1 = new Point4D(10, 5, 1, 4);
int pointHashCode;
pointHashCode = point1.GetHashCode();
// Displaying Results
syntaxString = "pointHashCode = point1.GetHashCode();";
resultType = "int";
operationString = "Getting the hashcode of Point4D";
ShowResults(pointHashCode.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN16>
break;
}
case "rb15":
{
//<SnippetMil4DPoints3DN17>
// Point4D Equality and Inequality operations
// instantiate variables
Point4D point4D1 = new Point4D();
Point4D point4D2 = new Point4D(15, 40, 60, 75);
Point3D point3D1 = new Point3D(15, 40, 60);
// result variables
Boolean areEqual;
Boolean areNotEqual;
String stringResult;
// defining x,y,z of point1
point4D1.X = 10;
point4D1.Y = 5;
point4D1.Z = 1;
point4D1.W = 4;
// equality operations
areEqual = point4D1 == point4D2;
// areEqual is False
areNotEqual = point4D1 != point4D2;
// areNotEqual is True
if (Point4D.Equals(point4D1, point3D1))
{
// the if condition is not true, so this block will not execute
stringResult = "Both objects are Point4D structures and they are equal";
}
else
{
// the if condition is false, so this branch will execute
stringResult = "parameters are not Point4D strucutres, or they are but are not equal";
}
// Displaying Results
syntaxString = "areNotEqual = (point1 != point2);";
resultType = "Boolean";
operationString = "Checking if two 3D points are not equal";
ShowResults(areNotEqual.ToString(), syntaxString, resultType, operationString);
//</SnippetMil4DPoints3DN17>
break;
}
default:
break;
} //end switch
//<SnippetMil4DPoints3DN2>
}