private void Start(object sender, RoutedEventArgs e)
{
try {
if (!optiTrack.IsInitialized())
{
optiTrack.Initialize();
}
if (!robot1.IsInitialized())
{
robot1.Initialize();
}
if ((bool)copyMovementsCheck.IsChecked && !robot2.IsInitialized())
{
robot2.Initialize();
}
startBtn.IsEnabled = false;
stopBtn.IsEnabled = true;
copyMovementsCheck.IsEnabled = false;
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Cannot start application.", ex);
}
}
public void Calibrate(int pointsPerLine, int samplesPerPoint)
{
if (worker.IsBusy)
{
return;
}
if (!optiTrack.IsInitialized())
{
throw new InvalidOperationException("OptiTrack system is not initialized");
}
if (!robot.IsInitialized())
{
throw new InvalidOperationException("KUKA robot is not initialized");
}
this.samplesPerPoint = samplesPerPoint;
CalculateCalibrationPoints(pointsPerLine);
worker.RunWorkerAsync();
}