Exemplo n.º 1
0
 public void JogRobot(JointJog jointJogCmd)
 {
     _finshedTrajectory = true;
     foreach (RobotJoint joint in _joints)
     {
         int joint_index = jointJogCmd.jointNames.LastIndexOf(joint.name);
         if (joint.GetJointType() == "prismatic")
         {
             joint.SetSpeed(jointJogCmd.velocities[joint_index]);
         }
         else
         {
             joint.SetSpeed(-Mathf.Rad2Deg * jointJogCmd.velocities[joint_index]);
         }
     }
 }
 public void jogRobot(JointJog jointJogCmd)
 {
     _finished_traj = true;
     foreach (RobotJoint joint in _joints)
     {
         int joint_index = jointJogCmd.joint_names.LastIndexOf(joint.name);
         if (joint.getJointType() == "prismatic")
         {
             joint.setSpeed(jointJogCmd.velocities[joint_index]);
         }
         else
         {
             joint.setSpeed(-Mathf.Rad2Deg * jointJogCmd.velocities[joint_index]);
         }
     }
 }