IEnumerator <ITask> OnApplyJointParametersHandler(OnApplyJointParameters onApply)
{
arm.SetJointTargetPoseRequest req = new arm.SetJointTargetPoseRequest();
req.JointName = onApply.JointName;
AxisAngle aa = new AxisAngle(
new Vector3(1, 0, 0),
(float)(Math.PI * 2 * ((double)onApply.Angle / 360)));
req.TargetOrientation = aa;
_articulatedArmPort.SetJointTargetPose(req);
yield break;
}
private void btnJointParamsApply_Click(object sender, EventArgs e)
{
try
{
short angle = short.Parse(textBoxJointAngle.Text);
OnApplyJointParameters j = new OnApplyJointParameters(this,
angle,
lblActiveJointValue.Text);
_eventsPort.Post(j);
}
catch
{
MessageBox.Show("Invalid angle", Text, MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
}