public void GoToPose(JacoPose pose) { CPointsTrajectory traj = new CPointsTrajectory(); CTrajectoryInfo ti = new CTrajectoryInfo(); ti.UserPosition.PositionType = CJacoStructures.PositionType.CartesianPosition; //ti.UserPosition.PositionType = //CJacoStructures.PositionType.AngularPosition; ti.UserPosition.HandMode = CJacoStructures.HandMode.NoMovements; CVectorEuler p = new CVectorEuler(); p.Position = new Single[3] { Convert.ToSingle(pose.x), Convert.ToSingle(pose.y), Convert.ToSingle(pose.z) }; p.Rotation = new Single[3] { Convert.ToSingle(pose.e_x), Convert.ToSingle(pose.e_y), Convert.ToSingle(pose.e_z) }; ti.UserPosition.Position = p; traj.Add(ti); m_Arm.ControlManager.SendTrajectoryFunctionnality(traj); }
public void GoToPose(JacoPose pose) { CPointsTrajectory traj = new CPointsTrajectory(); CTrajectoryInfo ti= new CTrajectoryInfo(); ti.UserPosition.PositionType = CJacoStructures.PositionType.CartesianPosition; //ti.UserPosition.PositionType = //CJacoStructures.PositionType.AngularPosition; ti.UserPosition.HandMode = CJacoStructures.HandMode.NoMovements; CVectorEuler p = new CVectorEuler(); p.Position = new Single[3] { Convert.ToSingle(pose.x), Convert.ToSingle(pose.y), Convert.ToSingle(pose.z)}; p.Rotation = new Single[3] { Convert.ToSingle(pose.e_x), Convert.ToSingle(pose.e_y), Convert.ToSingle(pose.e_z)}; ti.UserPosition.Position = p; traj.Add(ti); m_Arm.ControlManager.SendTrajectoryFunctionnality(traj); }