//------------------------------------------------------------
// Chuyển đổi Point thành ma trận 3x3
//------------------------------------------------------------
public static VisionMatrixObject ConvertPointToMatrix(AlignPointObject inputPoint)
{
float[] arrOut = new float[9];
arrOut[0] = (float)Math.Cos(inputPoint.Theta);
arrOut[1] = (float)-Math.Sin(inputPoint.Theta);
arrOut[2] = inputPoint.X;
arrOut[3] = (float)Math.Sin(inputPoint.Theta);
arrOut[4] = (float)Math.Cos(inputPoint.Theta);
arrOut[5] = inputPoint.Y;
arrOut[6] = 0;
arrOut[7] = 0;
arrOut[8] = 1;
return(new VisionMatrixObject(arrOut));
}
public bool AddPointRotate(AlignPointObject rbPoint, AlignPointObject visionPoint)
{
ListPointRobotRotate.Add(rbPoint);
ListPointVisionRotate.Add(visionPoint);
return(true);
}
public bool AddPointNormal(AlignPointObject rbPoint, AlignPointObject visionPoint)
{
ListPointRobotNormal.Add(rbPoint);
ListPointVisionNormal.Add(visionPoint);
return(true);
}
//------------------------------------------------------------
// Chuyển đổi Point qua phép CalibNPoint
//------------------------------------------------------------
public static AlignPointObject ConvertPointCalibNPoint(AlignPointObject inputPoint, CalibrationNPointTool calibTool)
{
return(null);
}
//------------------------------------------------------------
// Tính toán Offset từ tọa độ Robot cũ - mới
//------------------------------------------------------------
public static AlignPointObject CalPointOffset(AlignPointObject newRBPoint, AlignPointObject masterRBPoint)
{
return(new AlignPointObject(newRBPoint.X - masterRBPoint.X, newRBPoint.Y - masterRBPoint.Y, newRBPoint.Theta - masterRBPoint.Theta));
}