/// <summary>
/// Border：英寸转化为毫米
/// </summary>
/// <param name="border"></param>
/// <returns></returns>
public static CBorder CBorderFeetToMM(CBorder border)
{
CPoint3d spoint = CPoint3dFeetToMM(border.GetPointBegin());
CPoint3d epoint = CPoint3dFeetToMM(border.GetPointEnd());
return(new CBorder(spoint, epoint, border.GetBulge()));
}
static bool LoadZonesFromFile(string filename)
{
try {
string[] file = File.ReadAllLines(filename);
int z;
for (z = 0; z *6 + 5 < file.Length; z++)
{
CPoint3d[] points = new CPoint3d[5];
for (int p = 0; p < 5; p++)
{
points[p] = new CPoint3d();
string[] pos = file[z * 6 + p + 1].Split(' ');
points[p].X = float.Parse(pos[0]);
points[p].Y = float.Parse(pos[1]);
points[p].Z = float.Parse(pos[2]);
}
_zones.Zones[z] = CZone.CreateBaseZoneXY(points[0], points[1], points[2], points[3], points[4].Z, points[4].X, points[4].Y);
}
_zones.NbZoneActive = z;
_jaco.ConfigurationsManager.SetProtectionZones(_zones);
Console.WriteLine(_info + "Read zone configuration from file \"" + filename + "\".");
Console.WriteLine(_info + "You will need to reboot the robot for changes to take effect.");
PrintZones();
return(true);
} catch (Exception) {
Console.WriteLine(_error + "Could not read zone configuration from file \"" + filename + "\".");
}
return(false);
}
public static void MMToFeet(ref CPoint3d pt)
{
pt.x = MMToFeet(pt.x);
pt.y = MMToFeet(pt.y);
pt.z = MMToFeet(pt.z);
}
/// <summary>
/// 坐标点：毫米转化为英寸
/// </summary>
/// <param name="temPt"></param>
/// <returns></returns>
public static CPoint3d MMToFeet(CPoint3d temPt)
{
return(new CPoint3d(MMToFeet(temPt.x), MMToFeet(temPt.y), MMToFeet(temPt.z)));
}
/// <summary>
/// 坐标点：英寸转化为毫米
/// </summary>
/// <param name="brd"></param>
public static void FeetToMM(ref CPoint3d pt)
{
pt.x = FeetToMM(pt.x);
pt.y = FeetToMM(pt.y);
pt.z = FeetToMM(pt.z);
}
/// <summary>
/// 坐标点：英寸转化为毫米
/// </summary>
/// <param name="temPt"></param>
/// <returns></returns>
public static CPoint3d CPoint3dFeetToMM(CPoint3d pt)
{
return(new CPoint3d(FeetToMM(pt.x), FeetToMM(pt.y), FeetToMM(pt.z)));
}
static bool LoadZonesFromFile (string filename)
{
try {
string[] file = File.ReadAllLines(filename);
int z;
for (z=0; z*6+5<file.Length; z++) {
CPoint3d[] points = new CPoint3d[5];
for (int p=0; p<5; p++) {
points[p] = new CPoint3d();
string[] pos = file[z*6+p+1].Split(' ');
points[p].X = float.Parse(pos[0]);
points[p].Y = float.Parse(pos[1]);
points[p].Z = float.Parse(pos[2]);
}
_zones.Zones[z] = CZone.CreateBaseZoneXY(points[0], points[1], points[2], points[3], points[4].Z, points[4].X, points[4].Y);
}
_zones.NbZoneActive = z;
_jaco.ConfigurationsManager.SetProtectionZones(_zones);
Console.WriteLine(_info + "Read zone configuration from file \"" + filename + "\".");
Console.WriteLine(_info + "You will need to reboot the robot for changes to take effect.");
PrintZones();
return true;
} catch (Exception) {
Console.WriteLine(_error + "Could not read zone configuration from file \"" + filename + "\".");
}
return false;
}
