public bool ArriveSetoff4DOF_level(double x, double y, double z, int mod) //模式0为顺序执行,模式1为一起执行 { bool ifsol = InverseKinematics.IK4DOF_level(x, y, z, out joint4DOF_level); if (ifsol) { if (mod == 0) { TogetherRun4DOF(joint4DOF_level, 50, ref lastJoint4DOF); } else { TogetherRun4DOF(joint4DOF_level, 16, ref lastJoint4DOF); } } else { lastJoint4DOF = joint4DOF_level; } return(ifsol); }
public bool ArriveSetoff4DOF_level_con(double x, double y, double z, int mod) //模式0为顺序执行,模式1为一起执行 { bool ifsol = InverseKinematics.IK4DOF_level(x, y, z, out joint4DOF_level); joint4DOF_level[1] -= 10; joint4DOF_level[2] -= 10; joint4DOF_level[3] -= 1; if (ifsol) { if (mod == 0) { SortOrderRun4DOF(joint4DOF_level, ref lastJoint4DOF); } else { TogetherRun4DOF_con(joint4DOF_level, ref lastJoint4DOF); } } else { lastJoint4DOF = joint4DOF_level; } return(ifsol); }