编辑FunnyMap对象

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using Common_Robot2;
using ConverxHull;
using System.Numerics;

namespace Test1
{
    /// <summary>
    /// 大族机械臂S35通过5轴计算xyz
    /// https://www.geogebra.org/3d/neyfpnk7
    /// </summary>
    public class Cal_Six_To_XYZ_S35 : C_Node
    {

public string key_robot = "";//C_Robot
        public string six = "";
        public string? key_A = "";
        public string? key_B = "";
        public string? key_P7 = "";
        public string AB = "100";

public Cal_Six_To_XYZ_S35(string name, C_Space space_parent, C_Space space) : base(name, space_parent, space)
        {
        }

public override void init()
        {
        }

public override Task run_sub()
        {
            run_sub_main();
            return Task.CompletedTask;
        }

public void run_sub_main()
        {

C_Robot_DaZu_S35 pRobot2 = (C_Robot_DaZu_S35)this.read_var(this.key_robot, "");
           
            if (pRobot2 == null)
            {
                Main.speak_async("没有机器人配置");
                return;
            }
            string line = this.read_string(this.six);
            string[] strSplit = line.Split(",");
            float[] angles = new float[6];

for(var i=0;i<Math.Min(angles.Length, strSplit.Length); i++)
            {
                angles[i] = float.Parse(strSplit[i]);
            }

string str_AB = this.read_string(this.AB);
            (C_Point3D A, C_Point3D B, C_Point3D P7) = pRobot2.求正解_角度(angles,float.Parse(str_AB));

this.save_var(this.key_A, "C_Point3D", A);

this.save_var(this.key_B, "C_Point3D", B);

this.save_var(this.key_P7, "C_Point3D", P7);

for (var i=0;i<6;i++)
            {
                Vector3 tmp = pRobot2.rotate_center[i];
                C_Point3D tmpP = new C_Point3D(tmp);
                Console.WriteLine((i+1)+"="+tmpP.ToString());
                if (i == 5)
                {
                    Console.WriteLine("==================");
                }   
            }
        }

}
}

ID=10716 \Cal_Six_To_XYZ_S35.cs
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 using Common_Robot2; using ConverxHull; using System.Numerics; namespace Test1 { /// <summary> /// 大族机械臂S35通过5轴计算xyz /// https://www.geogebra.org/3d/neyfpnk7 /// </summary> public class Cal_Six_To_XYZ_S35 : C_Node { public string key_robot = "";//C_Robot public string six = ""; public string? key_A = ""; public string? key_B = ""; public string? key_P7 = ""; public string AB = "100"; public Cal_Six_To_XYZ_S35(string name, C_Space space_parent, C_Space space) : base(name, space_parent, space) { } public override void init() { } public override Task run_sub() { run_sub_main(); return Task.CompletedTask; } public void run_sub_main() { C_Robot_DaZu_S35 pRobot2 = (C_Robot_DaZu_S35)this.read_var(this.key_robot, ""); XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX using Common_Robot2; using ConverxHull; using System.Numerics; namespace Test1 { /// <summary> /// 大族机械臂S35通过5轴计算xyz /// https://www.geogebra.org/3d/neyfpnk7 /// </summary> public class Cal_Six_To_XYZ_S35 : C_Node { public string key_robot = "";//C_Robot public string six = ""; public string? key_A = ""; public string? key_B = ""; public string? key_P7 = ""; public string AB = "100"; public Cal_Six_To_XYZ_S35(string name, C_Space space_parent, C_Space space) : base(name, space_parent, space) { } public override void init() { } public override Task run_sub() { run_sub_main(); return Task.CompletedTask; } public void run_sub_main() { C_Robot_DaZu_S35 pRobot2 = (C_Robot_DaZu_S35)this.read_var(this.key_robot, ""); if (pRobot2 == null) { Main.speak_async("没有机器人配置"); return; } string line = this.read_string(this.six); string[] strSplit = line.Split(","); float[] angles = new float[6]; for(var i=0;i<Math.Min(angles.Length, strSplit.Length); i++) { angles[i] = float.Parse(strSplit[i]); } string str_AB = this.read_string(this.AB); (C_Point3D A, C_Point3D B, C_Point3D P7) = pRobot2.求正解_角度(angles,float.Parse(str_AB)); this.save_var(this.key_A, "C_Point3D", A); this.save_var(this.key_B, "C_Point3D", B); this.save_var(this.key_P7, "C_Point3D", P7); for (var i=0;i<6;i++) { Vector3 tmp = pRobot2.rotate_center[i]; C_Point3D tmpP = new C_Point3D(tmp); Console.WriteLine((i+1)+"="+tmpP.ToString()); if (i == 5) { Console.WriteLine("=================="); } } } } }