public URRobotCoOrdinate GetCurrentLocation() { URRobotCoOrdinate coord = new URRobotCoOrdinate(); coord.x = URRobotStatus.ToolVectorActual_1; coord.y = URRobotStatus.ToolVectorActual_2; coord.z = URRobotStatus.ToolVectorActual_3; coord.qx = URRobotStatus.ToolVectorActual_4; coord.qy = URRobotStatus.ToolVectorActual_5; coord.qz = URRobotStatus.ToolVectorActual_6; return(coord); }
public static URRobotCoOrdinate operator -(URRobotCoOrdinate r1, URRobotCoOrdinate r2) { URRobotCoOrdinate newVal = new URRobotCoOrdinate(); newVal.x = r1.x - r2.x; newVal.y = r1.y - r2.y; newVal.z = r1.z - r2.z; newVal.qx = r1.qx - r2.qx; newVal.qy = r1.qy - r2.qy; newVal.qz = r1.qz - r2.qz; return(newVal); }