EgtExecutor 2.7i2 :

- aggiunta funzione Exe/lua GetRobotAngles.
2025-09-10 08:53:22 +02:00
parent c736496b6a
commit 24d355f08a
3 changed files with 41 additions and 1 deletions
@@ -3480,6 +3480,17 @@ ExeGetCalcPositions( const Point3d& ptP, const DBLVECTOR& vAng,
   return pMachMgr->GetCalcPositions( ptP, vAng, nStat, dX, dY, dZ) ;
 }

+//-----------------------------------------------------------------------------
+bool
+ExeGetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                   DBLVECTOR& vAng1, DBLVECTOR& vAng2)
+{
+   IMachMgr* pMachMgr = GetCurrMachMgr() ;
+   VERIFY_MACHMGR( pMachMgr, false)
+  // calcolo gli angoli macchina dalle direzioni fresa e ausiliaria passate
+   return pMachMgr->GetRobotAngles( ptP, vtDirT, vtDirA, vAng1, vAng2) ;
+}
+
 //-----------------------------------------------------------------------------
 bool
 ExeGetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,