/// <summary> /// Set position of the robot by decart coordinates. /// </summary> /// <param name="Position"></param> public void SetDPosition(Decart Position) { // Calculate Joint configuration = KinematicsStatic.IverseKinematicTask(Position); this.SetJPosition(configuration); }
/// <summary> /// Get position of the robot by decart coordinates /// </summary> /// <returns>Decart coordinate.</returns> public Decart GetDPosition() { // Current robot pos. Joint curJointPos = this.GetJPosition(); // Current robot in XYZPR coordinates. Decart curDecPos = KinematicsStatic.RightsKinematicTask(curJointPos); return(curDecPos); }