private void cmbDhRefresh(int nNum)
{
if ((nNum >= 0) && (nNum < cmbDh.Items.Count))
{
Ojw.CEncryption.SetEncrypt("OJW5014"); // 암호화 해제는 보안이 필요
String strForward = Encoding.Default.GetString(Ojw.CEncryption.Encryption(false, m_C3d.GetHeader_pSEncryptKinematics_encryption()[nNum].byteEncryption));
if (strForward != null)
{
CDhParamAll CDh = new CDhParamAll();
if (strForward.Length > 0)
{
Ojw.CKinematics.CForward.MakeDhParam(strForward, out CDh);
SetDHString(strForward);//CDh);
}
}
Ojw.CEncryption.SetEncrypt("OJW5014"); // 암호화 해제는 보안이 필요
txtInverseKinematics.Text = Encoding.Default.GetString(Ojw.CEncryption.Encryption(false, m_C3d.GetHeader_pSEncryptInverseKinematics_encryption()[nNum].byteEncryption));
txtGroupName.Text = m_C3d.GetHeader_pstrGroupName()[nNum];
cmbDh.SelectedIndex = nNum;
cmbSecret.SelectedIndex = m_C3d.GetHeader_pnSecret()[nNum];
cmbKinematicsType.SelectedIndex = m_C3d.GetHeader_pnType()[nNum];
}
}
private void SetDHString(CDhParamAll CDh)
{
m_bMiddleOfInserting = true;
m_CGridView.Clear();
m_CGridView.Add(CDh.GetCount());
for (int i = 0; i < CDh.GetCount(); i++)
{
m_CGridView.SetEnable(i, true);
m_CGridView.Set(i, 0, CDh.GetData(i).dA); // A
m_CGridView.Set(i, 1, CDh.GetData(i).dD); // D
m_CGridView.Set(i, 2, CDh.GetData(i).dTheta); // Theta
m_CGridView.Set(i, 3, CDh.GetData(i).dAlpha); // Alpha
m_CGridView.Set(i, 4, CDh.GetData(i).nAxisNum); // Axis
m_CGridView.Set(i, 5, CDh.GetData(i).nAxisDir); // Dir
}
m_bMiddleOfInserting = false;
}
private void MoveToDhPosition(float fSize, float fAlpha, Color cColor)
{
int i;
CDhParamAll COjwDhParamAll = new CDhParamAll();
Ojw.CKinematics.CForward.MakeDhParam(txtForwardKinematics.Text, out COjwDhParamAll);
double dX, dY, dZ;
double[] dcolX;
double[] dcolY;
double[] dcolZ;
double[] adMot = new double[256];
Array.Clear(adMot, 0, adMot.Length);
for (i = 0; i < m_C3d.GetHeader_nMotorCnt(); i++)
{
adMot[i] = (double)m_C3d.GetData(i); //Ojw.CConvert.StrToDouble(m_txtAngle[i].Text);
}
Ojw.CKinematics.CForward.CalcKinematics(COjwDhParamAll, adMot, out dcolX, out dcolY, out dcolZ, out dX, out dY, out dZ);
String strResult;
// 만들어진 수식을 알고 싶다면 여기 결과값을 리턴받는다.
Ojw.CKinematics.CForward.CalcKinematics_ToString(COjwDhParamAll, adMot, out strResult);
txtKinematicsString.Text = strResult;
m_C3d.SetTestDh_Size(fSize);
m_C3d.SetTestDh_Color(cColor);
m_C3d.SetTestDh_Alpha(fAlpha);
m_C3d.SetTestDh_Pos((float)dX, (float)dY, (float)dZ);
lbTestDh.Text = "[x=" + Ojw.CConvert.DoubleToStr((double)Math.Round(dX, 3)) + ", y=" + Ojw.CConvert.DoubleToStr((double)Math.Round(dY, 3)) + ", z=" + Ojw.CConvert.DoubleToStr((double)Math.Round(dZ, 3)) + "]";
#region Checking Direction
// 방향 확인
float[] afX = new float[3];
float[] afY = new float[3];
float[] afZ = new float[3];
double dLength = 30.0;
dX = dLength;
dY = 0.0f;
dZ = 0.0f;
for (i = 0; i < 3; i++)
{
afX[i] = (float)(dcolX[i] * dX + dcolY[i] * dY + dcolZ[i] * dZ);
}
dX = 0.0f;
dY = dLength;
dZ = 0.0f;
for (i = 0; i < 3; i++)
{
afY[i] = (float)(dcolX[i] * dX + dcolY[i] * dY + dcolZ[i] * dZ);
}
dX = 0.0f;
dY = 0.0f;
dZ = dLength;
for (i = 0; i < 3; i++)
{
afZ[i] = (float)(dcolX[i] * dX + dcolY[i] * dY + dcolZ[i] * dZ);
}
m_C3d.SetTestDh_Angle(afX, afY, afZ);
#endregion Checking Direction
}