public static string ForceMode(uint indentLevel, IURMovement movement) { string cmd = ""; cmd += Indent(indentLevel) + "force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n"; cmd += Indent(indentLevel) + MoveL(movement.Start); cmd += Indent(indentLevel) + Sleep(1); cmd += Indent(indentLevel) + MoveL(movement.End); cmd += Indent(indentLevel) + "end_force_mode()\n"; return(cmd); }
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; }