Пример #1
0
        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);
        }
Пример #2
0
            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);
            }