public bool GetMotionUVW(ref XVector xMove, ref XScalar xU, ref XScalar xV, ref XScalar xW)
{
GetLocal(ref xMove);
double dTx = 0, dTy = 0;
{ //U
RotateMethod(63640, 63640, xMove.T, ref dTx, ref dTy);
xU.Set(dTx, dTy);
}
{ //V
RotateMethod(-63640, -63640, xMove.T, ref dTx, ref dTy);
xV.Set(dTx, dTy);
}
{ //W
RotateMethod(63640, -63640, xMove.T, ref dTx, ref dTy);
xW.Set(dTx, dTy);
}
xMove.X *= m_xMotorDirection.X;
xMove.Y *= m_xMotorDirection.Y;
xMove.T *= m_xMotorDirection.T * 180000 / Math.PI;
double dLimitT = m_xMoveLimit.T * 180000 / Math.PI;
if (m_xMoveLimit.X > Math.Abs(xMove.X) && m_xMoveLimit.Y > Math.Abs(xMove.Y) && dLimitT > Math.Abs(xMove.T))
{
return(true);
}
return(false);
}
public bool GetMotionUVWX(XVector xMove, ref XScalar xU, ref XScalar xV, ref XScalar xW, ref XScalar xX)
{
xMove.X *= m_xMotorDirection.X;
xMove.Y *= m_xMotorDirection.Y;
xMove.T *= m_xMotorDirection.T;
double dTx = 0, dTy = 0;
{ //U
RotateMethod(-1005000, 755000, xMove.T, ref dTx, ref dTy);
xU.Set(dTx, dTy);
}
{ //V
RotateMethod(1005000, 755000, xMove.T, ref dTx, ref dTy);
xV.Set(dTx, dTy);
}
{ //W
RotateMethod(-1005000, -755000, xMove.T, ref dTx, ref dTy);
xW.Set(dTx, dTy);
}
{ //W
RotateMethod(1005000, -755000, xMove.T, ref dTx, ref dTy);
xX.Set(dTx, dTy);
}
xMove.T *= 180000 / Math.PI;
double dLimitT = m_xMoveLimit.T * 180000 / Math.PI;
if (m_xMoveLimit.X > Math.Abs(xMove.X) && m_xMoveLimit.Y > Math.Abs(xMove.Y) && dLimitT > Math.Abs(xMove.T))
{
return(true);
}
return(false);
}
private void GetDelta(int nCameraMode)
{
switch (m_nCamCount)
{
case 1:
{
m_xDeviation.Set(m_xCam[0].Dist);
} break;
case 2:
{
m_xDeviation.Set(GetDelta(0, 1));
} break;
case 3:
switch (m_nCamPoseMode)
{
case 7:
switch (nCameraMode)
{
case 3: m_xDeviation.Set(GetDelta(0, 1)); break;
case 5: m_xDeviation.Set(GetDelta(2, 0)); break;
case 6: m_xDeviation.Set(GetDelta(2, 1)); break;
case 7:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
}
break;
case 11: break;
case 12: break;
case 13: break;
case 14: break;
}
break;
case 4:
switch (nCameraMode)
{
case 3: m_xDeviation.Set(GetDelta(0, 1)); break;
case 5: m_xDeviation.Set(GetDelta(2, 0)); break;
case 10: m_xDeviation.Set(GetDelta(3, 1)); break;
case 12: m_xDeviation.Set(GetDelta(2, 3)); break;
case 7:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 11:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 13:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(2, 0));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 3));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 14:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 15:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 3));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 0));
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
m_xDeviation.Set(dDeviationSum / 4);
} break;
}
break;
}
}
protected override void OnMouseDown(MouseEventArgs e)
{
if (m_xScalar != null)
{
int nWidth = Width / 3;
int nIndex = (int)(e.X / nWidth);
m_nSelect = nIndex;
if (nIndex == 0)
{
string sMsg = string.Format("Set = {0:F}, {1:F}, Are you sure?", m_dNomX * m_dCalX, m_dNomY * m_dCalY);
if (DialogResult.OK == MessageBox.Show(sMsg, Text, MessageBoxButtons.OKCancel, MessageBoxIcon.Question))
{
m_xScalar.Set(m_dNomX, m_dNomY);
if (Change != null)
{
Change(this);
}
Refresh();
}
}
if (nIndex == 1)
{
if (m_dCalX != 0)
{
frmInput fInput = new frmInput();
fInput.Value = m_xScalar.X * m_dCalX;
fInput.Min = m_dMinX;
fInput.Max = m_dMaxX;
fInput.Format = m_sFormatX;
if (DialogResult.OK == fInput.ShowDialog(this))
{
m_xScalar.X = fInput.Value / m_dCalX;
if (Change != null)
{
Change(this);
}
Refresh();
}
fInput.Dispose();
}
}
if (nIndex == 2)
{
if (m_dCalY != 0)
{
frmInput fInput = new frmInput();
fInput.Value = m_xScalar.Y * m_dCalY;
fInput.Min = m_dMinY;
fInput.Max = m_dMaxY;
fInput.Format = m_sFormatY;
if (DialogResult.OK == fInput.ShowDialog(this))
{
m_xScalar.Y = fInput.Value / m_dCalY;
if (Change != null)
{
Change(this);
}
Refresh();
}
fInput.Dispose();
}
}
}
}