public void GoToPose(JacoPose pose) { CPointsTrajectory traj = new CPointsTrajectory(); CTrajectoryInfo ti = new CTrajectoryInfo(); ti.UserPosition.PositionType = CJacoStructures.PositionType.CartesianPosition; //ti.UserPosition.PositionType = //CJacoStructures.PositionType.AngularPosition; ti.UserPosition.HandMode = CJacoStructures.HandMode.NoMovements; CVectorEuler p = new CVectorEuler(); p.Position = new Single[3] { Convert.ToSingle(pose.x), Convert.ToSingle(pose.y), Convert.ToSingle(pose.z) }; p.Rotation = new Single[3] { Convert.ToSingle(pose.e_x), Convert.ToSingle(pose.e_y), Convert.ToSingle(pose.e_z) }; ti.UserPosition.Position = p; traj.Add(ti); m_Arm.ControlManager.SendTrajectoryFunctionnality(traj); }
public void SendFingersAngleRads(double f1, double f2, double f3) { if (m_Arm.JacoIsReady()) { try { CPointsTrajectory pointsTrajectory = new CPointsTrajectory(); //CVectorAngle vector = new CVectorAngle(); CTrajectoryInfo trajectory = new CTrajectoryInfo(); //trajectory.UserPosition.AnglesJoints = vector; trajectory.UserPosition.PositionType = CJacoStructures.PositionType.PositionNoMovements; trajectory.UserPosition.HandMode = CJacoStructures.HandMode.PositionMode; //Trajectory needs to be converted to degrees trajectory.UserPosition.FingerPosition[0] = Convert.ToSingle(f1 * 180.0 / Math.PI); trajectory.UserPosition.FingerPosition[1] = Convert.ToSingle(f2 * 180.0 / Math.PI); trajectory.UserPosition.FingerPosition[2] = Convert.ToSingle(f3 * 180.0 / Math.PI); pointsTrajectory.Add(trajectory); m_Arm.ControlManager.SendTrajectoryFunctionnality(pointsTrajectory); } catch (Exception e) { System.Console.WriteLine( "JACO API SendTrajectory Failed (Finger Positions): "); System.Console.WriteLine(e.ToString()); } } }
//send trajectory to jaco public string sendTraj() { try { if (Jaco.JacoIsReady()) { TrajClear(); m_PointsTrajectory.Add(pointTraj); Jaco.ControlManager.SendBasicTrajectory(m_PointsTrajectory); //Delay(pointTraj, Jaco); Logger.addLog("Trajectory Completed (Angles set)"); return("Angle set"); } else { Logger.addLog("Jaco not ready - unable to send trajectory", true); return("Jaco not ready - unable to send trajectory"); } } catch (Exception) { Logger.addLog("Error in updating trajectory", true); return("Error in updating trajectory"); } }
public void SendJointsAngleRads(double j0, double j1, double j2, double j3, double j4, double j5) { if (m_Arm.JacoIsReady()) { try { CPointsTrajectory pointsTrajectory = new CPointsTrajectory(); CVectorAngle vector = new CVectorAngle(); //Change into degrees j0 *= (180.0 / Math.PI); j1 *= (180.0 / Math.PI); j2 *= (180.0 / Math.PI); j3 *= (180.0 / Math.PI); j4 *= (180.0 / Math.PI); j5 *= (180.0 / Math.PI); //Angle conversion for Jaco according to DH model vector.Angle = new Single[6] { Convert.ToSingle(-j0 + 180), Convert.ToSingle(j1 + 270), Convert.ToSingle(-j2 + 90), Convert.ToSingle(-j3 + 180), Convert.ToSingle(-j4 + 180), Convert.ToSingle(-j5 + 260) }; //This is weird, do we have to set this? vector.NbAngle = 6; //Send trajectory CTrajectoryInfo trajectory = new CTrajectoryInfo(); trajectory.UserPosition.AnglesJoints = vector; trajectory.UserPosition.PositionType = CJacoStructures.PositionType.AngularPosition; //dont move Hand trajectory.UserPosition.HandMode = CJacoStructures.HandMode.NoMovements; pointsTrajectory.Add(trajectory); m_Arm.ControlManager.SendTrajectoryFunctionnality(pointsTrajectory); } catch (Exception e) { System.Console.WriteLine( "JACO API SendTrajectory Failed (Angular Joint Positions): "); System.Console.WriteLine(e.ToString()); } } }
static bool SetPosition(bool cartesian, float x1, float x2, float x3, float x4, float x5, float x6, float f1, float f2, float f3) { if (!CheckControl()) { return(false); } CheckMode(cartesian); _cartesian = cartesian; CTrajectoryInfo _point = new CTrajectoryInfo(); SetTargetPosition(_point, cartesian, x1, x2, x3, x4, x5, x6, f1, f2, f3); CPointsTrajectory trajectory = new CPointsTrajectory(); trajectory.Add(_point); _jaco.ControlManager.SendTrajectoryFunctionnality(trajectory); return(true); }
public void SendJointsAngleRads(double j0, double j1, double j2, double j3, double j4, double j5) { if (m_Arm.JacoIsReady()) { try { CPointsTrajectory pointsTrajectory = new CPointsTrajectory(); CVectorAngle vector = new CVectorAngle(); //Change into degrees j0 *= (180.0 / Math.PI); j1 *= (180.0 / Math.PI); j2 *= (180.0 / Math.PI); j3 *= (180.0 / Math.PI); j4 *= (180.0 / Math.PI); j5 *= (180.0 / Math.PI); //Angle conversion for Jaco according to DH model vector.Angle = new Single[6] { Convert.ToSingle(-j0 + 180), Convert.ToSingle( j1 + 270), Convert.ToSingle(-j2 + 90 ), Convert.ToSingle(-j3 + 180), Convert.ToSingle(-j4 + 180), Convert.ToSingle(-j5 + 260)}; //This is weird, do we have to set this? vector.NbAngle = 6; //Send trajectory CTrajectoryInfo trajectory = new CTrajectoryInfo(); trajectory.UserPosition.AnglesJoints = vector; trajectory.UserPosition.PositionType = CJacoStructures.PositionType.AngularPosition; pointsTrajectory.Add(trajectory); m_Arm.ControlManager.SendTrajectoryFunctionnality(pointsTrajectory); } catch (Exception e) { System.Console.WriteLine( "JACO API SendTrajectory Failed (Angular Joint Positions): "); System.Console.WriteLine(e.ToString()); } } }
public void SendFingersAngleRads(double f1, double f2, double f3) { if (m_Arm.JacoIsReady()) { try { CPointsTrajectory pointsTrajectory = new CPointsTrajectory(); //CVectorAngle vector = new CVectorAngle(); CTrajectoryInfo trajectory = new CTrajectoryInfo(); //trajectory.UserPosition.AnglesJoints = vector; trajectory.UserPosition.PositionType = CJacoStructures.PositionType.PositionNoMovements; trajectory.UserPosition.HandMode = CJacoStructures.HandMode.PositionMode; //Trajectory needs to be converted to degrees trajectory.UserPosition.FingerPosition[0] = Convert.ToSingle(f1 * 180.0 / Math.PI); trajectory.UserPosition.FingerPosition[1] = Convert.ToSingle(f2 * 180.0 / Math.PI); trajectory.UserPosition.FingerPosition[2] = Convert.ToSingle(f3 * 180.0 / Math.PI); pointsTrajectory.Add(trajectory); m_Arm.ControlManager.SendTrajectoryFunctionnality(pointsTrajectory); } catch (Exception e) { System.Console.WriteLine( "JACO API SendTrajectory Failed (Finger Positions): "); System.Console.WriteLine(e.ToString()); } } }
public void GoToPose(JacoPose pose) { CPointsTrajectory traj = new CPointsTrajectory(); CTrajectoryInfo ti= new CTrajectoryInfo(); ti.UserPosition.PositionType = CJacoStructures.PositionType.CartesianPosition; //ti.UserPosition.PositionType = //CJacoStructures.PositionType.AngularPosition; ti.UserPosition.HandMode = CJacoStructures.HandMode.NoMovements; CVectorEuler p = new CVectorEuler(); p.Position = new Single[3] { Convert.ToSingle(pose.x), Convert.ToSingle(pose.y), Convert.ToSingle(pose.z)}; p.Rotation = new Single[3] { Convert.ToSingle(pose.e_x), Convert.ToSingle(pose.e_y), Convert.ToSingle(pose.e_z)}; ti.UserPosition.Position = p; traj.Add(ti); m_Arm.ControlManager.SendTrajectoryFunctionnality(traj); }
static bool SetPositionWithSpeed (bool cartesian, float x1, float x2, float x3, float x4, float x5, float x6, float f1, float f2, float f3, float sc, float sa, float sf) { if (!CheckControl()) return false; CheckMode(cartesian); _cartesian = cartesian; CTrajectoryInfo _point = new CTrajectoryInfo(); SetTargetPosition(_point, cartesian, x1, x2, x3, x4, x5, x6, f1, f2, f3); SetTargetSpeed(_point, sc, sa, sf); CPointsTrajectory trajectory = new CPointsTrajectory(); trajectory.Add(_point); _jaco.ControlManager.SendTrajectoryFunctionnality(trajectory); return true; }