/// <summary>
/// 给定起始和结束数组索引,获取字符串数组中从开始索引到结束索引下的所有点。test success
/// </summary>
/// <param name="x_sIdentifier1"></param>
/// <param name="x_sIdentifier2"></param>
/// <param name="x_sTargetString"></param>
/// <param name="x_nStartIndex"></param>
/// <param name="x_nEndIndex"></param>
/// <param name="x_ListPoint"></param>
/// <returns></returns>
public bool getPoint(string x_sIdentifier1, char x_sIdentifier2, string[] x_sTargetString, int x_nStartIndex, int x_nEndIndex, out List <DataType.StaubliRobotData.St_PointRx> x_ListPoint)
{
bool l_bResult = false;
x_ListPoint = null;
List <DataType.StaubliRobotData.St_PointRx> l_arrayList = new List <DataType.StaubliRobotData.St_PointRx>();
DataType.StaubliRobotData.St_PointRx l_pPoint = new DataType.StaubliRobotData.St_PointRx();
for (int i = x_nStartIndex + 1; i <= x_nEndIndex - 1; i++)
{
l_bResult = getPoint(x_sIdentifier1, x_sIdentifier2, x_sTargetString[i], ref l_pPoint);
if (l_bResult == true)
{
l_arrayList.Add(l_pPoint);
}
}
if (l_arrayList.Count == 0)
{
l_bResult = false;
}
else
{
x_ListPoint = l_arrayList; l_bResult = true;
}
return(l_bResult);
}
//<summary>
//判断三点共线(第三点到直线的距离作为精度【相关技术要求】)
//</summary>
//<returns>true：共线</returns>false：不共线
public static bool CKYThreeColline(DataType.StaubliRobotData.St_PointRx x_pPoint1, DataType.StaubliRobotData.St_PointRx x_pPoint2, DataType.StaubliRobotData.St_PointRx x_pPoint3, double x_nDistancePrecision, ref double x_nActualError)
{
bool l_bResult = false;
DataType.BasicDataType.vector l_V1, l_V2, l_V3;
l_V1 = Point2Vector(x_pPoint1);
l_V2 = Point2Vector(x_pPoint2);
l_V3 = Point2Vector(x_pPoint3);
double l_nDistance1 = BasicMathTool.VectorDistance(l_V1, l_V2);
double l_nDistance2 = BasicMathTool.VectorDistance(l_V1, l_V3);
if (l_nDistance1 <= l_nDistance2)
{
double l_nDiastance = PointToLineDistance(l_V1, l_V2, l_V3);
if (l_nDiastance <= x_nDistancePrecision)
{
l_bResult = true; x_nActualError = l_nDiastance;
}
else
{
l_bResult = false;
}
}
else
{
l_bResult = false;
}
return(l_bResult);
}
public static DataType.BasicDataType.vector Point2Vector(DataType.StaubliRobotData.St_PointRx x_pPoint)
{
DataType.BasicDataType.vector l_v;
l_v.x = x_pPoint.x;
l_v.y = x_pPoint.y;
l_v.z = x_pPoint.z;
return(l_v);
}
/// <summary>
/// 转换为离线文件标准字符串形式
/// </summary>
/// <returns></returns>
public string Trans2Standard(DataType.StaubliRobotData.St_JointRx x_jJoint, DataType.StaubliRobotData.St_PointRx x_pPoint, string x_sPropertySeparator, string x_sPointSeparator, string x_sMoveType)
{
string l_sString = string.Empty;
string l_sJoint = Joint2String(x_jJoint, x_sPointSeparator);
string l_sPoint = Point2String(x_pPoint, x_sPointSeparator);
l_sString = x_sMoveType + x_sPropertySeparator + l_sJoint + x_sPropertySeparator + l_sPoint + x_sPropertySeparator;
return(l_sString);
}
public static bool VectAngle(DataType.StaubliRobotData.St_PointRx x_pPoint1, DataType.StaubliRobotData.St_PointRx x_pPoint2, DataType.StaubliRobotData.St_PointRx x_pPoint3, ref double x_nAngle)
{
BasicDataType.vector l_v1, l_v2, l_v3;
l_v1 = PointTool.Point2Vector(x_pPoint1);
l_v2 = PointTool.Point2Vector(x_pPoint2);
l_v3 = PointTool.Point2Vector(x_pPoint3);
bool l_bResult = VectAngle(l_v1, l_v2, l_v3, ref x_nAngle);
return(l_bResult);
}
public static bool ThreeColline(DataType.StaubliRobotData.St_PointRx x_pPoint1, DataType.StaubliRobotData.St_PointRx x_pPoint2, DataType.StaubliRobotData.St_PointRx x_pPoint3, double x_nPrecision)
{
bool l_bResult = false;
DataType.BasicDataType.vector l_V1, l_V2, l_V3;
l_V1 = Point2Vector(x_pPoint1);
l_V2 = Point2Vector(x_pPoint2);
l_V3 = Point2Vector(x_pPoint3);
l_bResult = ThreeColline(l_V1, l_V2, l_V3, x_nPrecision);
return(l_bResult);
}
/// <summary>
/// 判断点是否在圆上
/// </summary>
/// <returns></returns>
public static bool CKYIsOnCircle(DataType.StaubliRobotData.St_PointRx x_pPoint1, DataType.StaubliRobotData.St_PointRx x_pPoint2, DataType.StaubliRobotData.St_PointRx x_pPoint3, DataType.StaubliRobotData.St_PointRx x_pPoint4, double x_nLinePrecision, double x_nCirclePrecision, ref double x_nActualError)
{
bool l_bResult = false;
DataType.BasicDataType.vector l_v1, l_v2, l_v3, l_v4;
l_v1 = Point2Vector(x_pPoint1);
l_v2 = Point2Vector(x_pPoint2);
l_v3 = Point2Vector(x_pPoint3);
l_v4 = Point2Vector(x_pPoint4);
l_bResult = CKYIsOnCircle(l_v1, l_v2, l_v3, l_v4, x_nLinePrecision, x_nCirclePrecision, ref x_nActualError);
return(l_bResult);
}
public string Point2String(DataType.StaubliRobotData.St_PointRx x_pPoint, string x_sSeparator)
{
string l_sString = string.Empty;
double[] l_nNum = new double[6];
bool l_bResult = Point2Double(ref l_nNum, x_pPoint);
if (l_bResult == true)
{
l_sString = Double2String(l_nNum, x_sSeparator);
}
return(l_sString);
}
public bool Point2Double(ref double[] x_nNumber, DataType.StaubliRobotData.St_PointRx x_pPoint)
{
bool l_bOk = false;
if (x_nNumber.Length != 6)
{
l_bOk = false;
}
else
{
x_nNumber[0] = x_pPoint.x;
x_nNumber[1] = x_pPoint.y;
x_nNumber[2] = x_pPoint.z;
x_nNumber[3] = x_pPoint.Rx;
x_nNumber[4] = x_pPoint.Ry;
x_nNumber[5] = x_pPoint.Rz;
l_bOk = true;
}
return(l_bOk);
}
/// <summary>
/// 字符串数组转换为点类型 test success
/// </summary>
/// <param name="x_sPoint"></param>
/// <param name="x_pPoint"></param>
/// <returns></returns>
public bool String2Point(string[] x_sPoint, ref DataType.StaubliRobotData.St_PointRx x_pPoint)
{
bool l_bOk = false;
if (x_sPoint.Length != 6)
{
l_bOk = false;
}
else
{
x_pPoint.x = double.Parse(x_sPoint[0]);
x_pPoint.y = double.Parse(x_sPoint[1]);
x_pPoint.z = double.Parse(x_sPoint[2]);
x_pPoint.Rx = double.Parse(x_sPoint[3]);
x_pPoint.Ry = double.Parse(x_sPoint[4]);
x_pPoint.Rz = double.Parse(x_sPoint[5]);
l_bOk = true;
}
return(l_bOk);
}
/// <summary>
/// 获取点信息 test success
/// </summary>
/// <param name="x_sIdentifier1"></param>
/// <param name="x_sIdentifier2"></param>
/// <param name="x_sTargetString"></param>
/// <param name="x_pPoint"></param>
/// <returns></returns>
public bool getPoint(string x_sIdentifier1, char x_sIdentifier2, string x_sTargetString, ref DataType.StaubliRobotData.St_PointRx x_pPoint)
{
bool l_bOk = false;
List <int> l_nPosition = new List <int>();
l_bOk = FindString(x_sIdentifier1, x_sTargetString, ref l_nPosition);
if (l_bOk == true)
{
try
{
string l_sString = x_sTargetString.Substring(l_nPosition[1] + 1, l_nPosition[2] - l_nPosition[1] - 1);
string[] l_sPoint = l_sString.Split(x_sIdentifier2);
l_bOk = String2Point(l_sPoint, ref x_pPoint);
}
catch (Exception ex)
{
throw new Exception("Error:getPoint exception: " + ex.Message);
}
}
return(l_bOk);
}
