From 1c4426810c71eead57084be8a18ade8d314dd8c4 Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期二, 10 十二月 2019 14:24:31 +0800
Subject: [PATCH] 1. 重构项目
---
src/Bro.Common.Model/Model/CustomizedPoint.cs | 60 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 60 insertions(+), 0 deletions(-)
diff --git a/src/Bro.Common.Model/Model/CustomizedPoint.cs b/src/Bro.Common.Model/Model/CustomizedPoint.cs
index 942c76b..00bf7cd 100644
--- a/src/Bro.Common.Model/Model/CustomizedPoint.cs
+++ b/src/Bro.Common.Model/Model/CustomizedPoint.cs
@@ -599,4 +599,64 @@
return data.TrimEnd(new char[] { ',' });
}
}
+
+ public class RobotPoint : IComplexDisplay
+ {
+ [Category("鐐逛綅淇℃伅")]
+ [Description("鍧愭爣X")]
+ public float X { get; set; }
+
+ [Category("鐐逛綅淇℃伅")]
+ [Description("鍧愭爣Y")]
+ public float Y { get; set; }
+
+ [Category("鐐逛綅淇℃伅")]
+ [Description("鍧愭爣Z")]
+ public float Z { get; set; }
+
+ [Category("鐐逛綅淇℃伅")]
+ [Description("瑙掑害A")]
+ public float A { get; set; }
+
+ [Category("鐐逛綅淇℃伅")]
+ [Description("瑙掑害B")]
+ public float B { get; set; }
+
+ [Category("鐐逛綅淇℃伅")]
+ [Description("瑙掑害C")]
+ public float C { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"X:{X.ToString()} Y:{Y.ToString()} Z:{Z.ToString()} A:{A.ToString()} B:{B.ToString()} C:{C.ToString()}";
+ }
+
+ public double[] GetArray()
+ {
+ return new double[] { X, Y, Z, A, B, C };
+ }
+
+ public static RobotPoint GetRobotPointByArray(double[] array)
+ {
+ if (array.Length != 6)
+ {
+ return null;
+ }
+
+ RobotPoint point = new RobotPoint();
+ point.X = (float)array[0];
+ point.Y = (float)array[1];
+ point.Z = (float)array[2];
+ point.A = (float)array[3];
+ point.B = (float)array[4];
+ point.C = (float)array[5];
+
+ return point;
+ }
+
+ public static float GetDistance(RobotPoint pointA, RobotPoint pointB)
+ {
+ return (float)Math.Sqrt(Math.Pow(pointA.X - pointB.X, 2) + Math.Pow(pointA.Y - pointB.Y, 2) + Math.Pow(pointA.Z - pointB.Z, 2));
+ }
+ }
}
--
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