public TDx.TDxInput.AngleAxis Supprimer_Bruit_Rotation(TDx.TDxInput.AngleAxis rotation)
 {
     if(rotation.X > 0.1)
     {
         rotation.Y = 0;
         rotation.Z = 0;
     }else if(rotation.X < -0.1)
     {
         rotation.Y = 0;
         rotation.Z = 0;
     }else if(rotation.Y > 0.1)
     {
         rotation.X = 0;
         rotation.Z = 0;
     }
     else if (rotation.Y < -0.1)
     {
         rotation.X = 0;
         rotation.Z = 0;
     }
     else if (rotation.Z > 0.1)
     {
         rotation.X = 0;
         rotation.Y = 0;
     }else if(rotation.Z < -0.1)
     {
         rotation.X = 0;
         rotation.Y = 0;
     }
     return rotation;
 }
        // Fonction permettant d'utiliser les translations et rotations de la souris et de les envoyer au Kuka
        public void Kuka_Move(TDx.TDxInput.Vector3D translation, TDx.TDxInput.AngleAxis rotation)
        {
            if (debug)
            {
                Console.WriteLine("je suis dans kuka move");
                var Position = (new CartesianPosition
                {
                    X = translation.X,
                    Y = translation.Y,
                    Z = translation.Z,
                    A = rotation.X,
                    B = rotation.Y,
                    C = rotation.Z,
                });
                Console.WriteLine(Position.X + " ; " + Position.Y + " ; " + Position.Z);

                // on envoi ces valeurs au Kuka

                robot.SetRelativeMovement(Position);
            }
            // on recupere les valeurs des translations et rotations de la souris 3D
        }
 public TDx.TDxInput.Vector3D Suppimmer_Bruit_Translation(TDx.TDxInput.Vector3D translation)
 {
     if (translation.X > 500)
     {
         translation.Y = 0;
         translation.Z = 0;
     }else if(translation.X < -500)
     {
         translation.Y = 0;
         translation.Z = 0;
     }else if(translation.Y > 500)
     {
         translation.X = 0;
         translation.Z = 0;
     }else if(translation.Y < -500)
     {
         translation.X = 0;
         translation.Z = 0;
     }else if(translation.Z > 500)
     {
         translation.X = 0;
         translation.Y = 0;
     }else if(translation.Z < -500)
     {
         translation.X = 0;
         translation.Y = 0;
     }
     return translation;
 }