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API C#
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This class represents a vector of 6 angles. Mainly, this class is used to represent the 6 joints of Jaco. This kind of vector should be used in an angular control context. More...
Public Member Functions | |
| CVectorAngle () | |
| Initializes a new instance of the CVectorAngle class. More... | |
| void | Init () |
| Initialization of all angles in the vector. More... | |
Public Attributes | |
| const UInt64 | NB_ANGLE = 6 |
| The number of angle in the vector. More... | |
| const UInt64 | JOINT_1 = 0 |
| Index of joint 1 inside the Angle array. More... | |
| const UInt64 | JOINT_2 = 1 |
| Index of joint 2 inside the Angle array. More... | |
| const UInt64 | JOINT_3 = 2 |
| Index of joint 3 inside the Angle array. More... | |
| const UInt64 | JOINT_4 = 3 |
| Index of joint 4 inside the Angle array. More... | |
| const UInt64 | JOINT_5 = 4 |
| Index of joint 5 inside the Angle array. More... | |
| const UInt64 | JOINT_6 = 5 |
| Index of joint 6 inside the Angle array. More... | |
Properties | |
| UInt64 | NbAngle [get, set] |
| Gets or sets the nb angle. More... | |
| float[] | Angle [get, set] |
| This is an array of NB_ANGLE float values and it represents the angle of each joint. The constants JOINT_1 to JOINT_6 can be used to access the desired value. All values's unit are degrees. More... | |
This class represents a vector of 6 angles. Mainly, this class is used to represent the 6 joints of Jaco. This kind of vector should be used in an angular control context.
| Kinova.DLL.Data.Util.CVectorAngle.CVectorAngle | ( | ) |
Initializes a new instance of the CVectorAngle class.
| void Kinova.DLL.Data.Util.CVectorAngle.Init | ( | ) |
Initialization of all angles in the vector.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_1 = 0 |
Index of joint 1 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_2 = 1 |
Index of joint 2 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_3 = 2 |
Index of joint 3 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_4 = 3 |
Index of joint 4 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_5 = 4 |
Index of joint 5 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.JOINT_6 = 5 |
Index of joint 6 inside the Angle array.
| const UInt64 Kinova.DLL.Data.Util.CVectorAngle.NB_ANGLE = 6 |
The number of angle in the vector.
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getset |
This is an array of NB_ANGLE float values and it represents the angle of each joint. The constants JOINT_1 to JOINT_6 can be used to access the desired value. All values's unit are degrees.
CVectorAngle MyVectorAngle = new CVectorAngle();
//Some computing that fill the vector...
//Display the value of the joint # 1 System.Console.WriteLine("Angle of joint 1 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_1]);
//Display the value of the joint # 2 System.Console.WriteLine("Angle of joint 2 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_2]);
//Display the value of the joint # 3 System.Console.WriteLine("Angle of joint 3 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_3]);
//Display the value of the joint # 4 System.Console.WriteLine("Angle of joint 4 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_4]);
//Display the value of the joint # 5 System.Console.WriteLine("Angle of joint 5 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_5]);
//Display the value of the joint # 6 System.Console.WriteLine("Angle of joint 6 = " + MyVectorAngle.Angle[CVectorAngle.JOINT_6]);
The Angle array.
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getset |
Gets or sets the nb angle.
The nb angle.