public void GoToPose(JacoPose pose)
{
CPointsTrajectory traj = new CPointsTrajectory();
CTrajectoryInfo ti = new CTrajectoryInfo();
ti.UserPosition.PositionType =
CJacoStructures.PositionType.CartesianPosition;
//ti.UserPosition.PositionType =
//CJacoStructures.PositionType.AngularPosition;
ti.UserPosition.HandMode =
CJacoStructures.HandMode.NoMovements;
CVectorEuler p = new CVectorEuler();
p.Position = new Single[3] {
Convert.ToSingle(pose.x),
Convert.ToSingle(pose.y),
Convert.ToSingle(pose.z)
};
p.Rotation = new Single[3] {
Convert.ToSingle(pose.e_x),
Convert.ToSingle(pose.e_y),
Convert.ToSingle(pose.e_z)
};
ti.UserPosition.Position = p;
traj.Add(ti);
m_Arm.ControlManager.SendTrajectoryFunctionnality(traj);
}
public void GoToPose(JacoPose pose)
{
CPointsTrajectory traj = new CPointsTrajectory();
CTrajectoryInfo ti= new CTrajectoryInfo();
ti.UserPosition.PositionType =
CJacoStructures.PositionType.CartesianPosition;
//ti.UserPosition.PositionType =
//CJacoStructures.PositionType.AngularPosition;
ti.UserPosition.HandMode =
CJacoStructures.HandMode.NoMovements;
CVectorEuler p = new CVectorEuler();
p.Position = new Single[3] {
Convert.ToSingle(pose.x),
Convert.ToSingle(pose.y),
Convert.ToSingle(pose.z)};
p.Rotation = new Single[3] {
Convert.ToSingle(pose.e_x),
Convert.ToSingle(pose.e_y),
Convert.ToSingle(pose.e_z)};
ti.UserPosition.Position = p;
traj.Add(ti);
m_Arm.ControlManager.SendTrajectoryFunctionnality(traj);
}
