public static URVector Subtract(URVector vector1, URVector vector2)
{
var newPoseVector = Vector3D.Subtract(vector1.PoseVector, vector2.PoseVector);
var newRotationVector = Vector3D.Subtract(vector1.RotationVector, vector2.RotationVector);
return(new URVector(newPoseVector, newRotationVector));
}
public static URPose Subtract(URPose pose, URVector vector)
{
var newPosition = Point3D.Subtract(pose.Position, vector.PoseVector);
var newRotation = Point3D.Subtract(pose.Rotation, vector.RotationVector);
return(new URPose(newPosition, newRotation));
}
public static URPose Subtract(URVector vector, URPose pose)
{
var newPosition = Vector3D.Subtract(vector.PoseVector, pose.Position);
var newRotation = Vector3D.Subtract(vector.RotationVector, pose.Rotation);
return(new URPose(newPosition, newRotation));
}
// O-->-->-->-->-->-->-->O
//
// O-->-->-->-->-->-->-->O
//
// O-->-->-->-->-->-->-->O
public static List <IURMovement> ZStyle(IRectangularBoundary boundary, double brushThickness, double overlap)
{
List <IURMovement> movements = new List <IURMovement>();
if ((overlap >= 1) || (overlap < 0))
{
return(movements);
}
var offset = brushThickness * (1 - overlap);
var indexVector = boundary.IndexMovement.PoseVector;
int number = (int)Math.Ceiling(indexVector.Length / offset);
indexVector.Normalize();
if (number > 1)
{
for (int i = 0; i < number; i++)
{
var deltaMove = Vector3D.Multiply(indexVector, i * offset);
var rotationMove = new Vector3D(0, 0, 0);
URVector delta = new URVector(deltaMove, rotationMove);
movements.Add(new URMovement(boundary.LeftTop + delta, boundary.RightTop + delta));
}
}
else if (number == 1)
{
movements.Add(new URMovement(boundary.LeftTop, boundary.RightTop));
}
return(movements);
}
public RectangularBoundary(URPose lefttop, URPose righttop, URPose rightbottom, URPose leftbottom)
{
LeftTop = lefttop;
RightTop = righttop;
RightBottom = rightbottom;
LeftBottom = leftbottom;
ScanMovement = RightTop - LeftTop;
IndexMovement = LeftBottom - LeftTop;
}
public RectangularBoundary(IURMovement scanMove, URPose pose)
{
// define LeftTop corner and RightTop corner positions with URMove
LeftTop = scanMove.Start;
RightTop = scanMove.End;
ScanMovement = scanMove.Movement;
IndexMovement = GetIndexMoveVector(pose);
LeftBottom = LeftTop + IndexMovement;
RightBottom = RightTop + IndexMovement;
}
public static string Generate(string name, List <IURMovement> movements, URVector safeDistVector)
{
StringBuilder sb = new StringBuilder();
sb.Append(FunctionHeader(name));
// Start scan
for (int i = 0; i < movements.Count; i++)
{
// movej to safe position above start point
sb.Append(Indent(1) + MoveL(movements[i].Start + safeDistVector, 0.5, 0.3));
sb.Append(Indent(1) + Sleep(0.5));
// force mode
sb.Append(ForceMode(1, movements[i]));
sb.Append(Indent(1) + Sleep(0.5));
// move to safe position after one line scan
sb.Append(Indent(1) + MoveL(movements[i].End + safeDistVector, 0.1, 0.1));
}
sb.Append(FunctionEnd());
return(sb.ToString());
}
