/**
* Carga las coordenadas x y z del efector final de un Scorbot. Contexto del Scorbot real.
* La carga se hace mediante fichero o se usa el que hay por defecto en el programa.
* @param file Fichero
* @param scorbot Scorbot
* @return void
*/
private void LoadEffector(string file, IK scorbot)
{
try
{
// Inicial position. HOME
scorbot.GetComponent <ScorbotModel>().GoHome();
List <float[]> values = new List <float[]>();
// Read file
string[] lines = System.IO.File.ReadAllLines(file);
// Effector values. First line
string[] effectorPos = lines[0].Split(' ');
// Expected coordinates x, y, z
if (effectorPos.Length == 3)
{
Vector3 pos = (new Vector3(float.Parse(effectorPos[0]), float.Parse(effectorPos[2]), float.Parse(effectorPos[1])) / 10f);
scorbot.GetComponent <ScorbotModel>().E.position = pos;
// Updating copy end effector
scorbot.UpdateCopyEffector();
stateMessageControl.WriteMessage("Done. Effector values loaded (From file). " + scorbot.name, true);
}
else // Error
{
stateMessageControl.WriteMessage("Error. Effector values not valid (From file). " + scorbot.name, false);
}
}
catch (Exception e) // File not found
{
// Default effector
Vector3 effectorPos = scorbot.GetComponent <ScorbotModel>().E.position * 10f;
// Oneline
string[] lines = new string[] {
effectorPos.x.ToString(NUMBER_FORMAT) + " " +
effectorPos.z.ToString(NUMBER_FORMAT) + " " +
effectorPos.y.ToString(NUMBER_FORMAT)
};
// Overwrite everything
System.IO.File.WriteAllLines(file, lines);
stateMessageControl.WriteMessage("Done. Default effector (Not from file)." + scorbot.name, true);
}
}