public TDx.TDxInput.AngleAxis Supprimer_Bruit_Rotation(TDx.TDxInput.AngleAxis rotation)
{
if(rotation.X > 0.1)
{
rotation.Y = 0;
rotation.Z = 0;
}else if(rotation.X < -0.1)
{
rotation.Y = 0;
rotation.Z = 0;
}else if(rotation.Y > 0.1)
{
rotation.X = 0;
rotation.Z = 0;
}
else if (rotation.Y < -0.1)
{
rotation.X = 0;
rotation.Z = 0;
}
else if (rotation.Z > 0.1)
{
rotation.X = 0;
rotation.Y = 0;
}else if(rotation.Z < -0.1)
{
rotation.X = 0;
rotation.Y = 0;
}
return rotation;
}
// Fonction permettant d'utiliser les translations et rotations de la souris et de les envoyer au Kuka
public void Kuka_Move(TDx.TDxInput.Vector3D translation, TDx.TDxInput.AngleAxis rotation)
{
if (debug)
{
Console.WriteLine("je suis dans kuka move");
var Position = (new CartesianPosition
{
X = translation.X,
Y = translation.Y,
Z = translation.Z,
A = rotation.X,
B = rotation.Y,
C = rotation.Z,
});
Console.WriteLine(Position.X + " ; " + Position.Y + " ; " + Position.Z);
// on envoi ces valeurs au Kuka
robot.SetRelativeMovement(Position);
}
// on recupere les valeurs des translations et rotations de la souris 3D
}
public TDx.TDxInput.Vector3D Suppimmer_Bruit_Translation(TDx.TDxInput.Vector3D translation)
{
if (translation.X > 500)
{
translation.Y = 0;
translation.Z = 0;
}else if(translation.X < -500)
{
translation.Y = 0;
translation.Z = 0;
}else if(translation.Y > 500)
{
translation.X = 0;
translation.Z = 0;
}else if(translation.Y < -500)
{
translation.X = 0;
translation.Z = 0;
}else if(translation.Z > 500)
{
translation.X = 0;
translation.Y = 0;
}else if(translation.Z < -500)
{
translation.X = 0;
translation.Y = 0;
}
return translation;
}