EgtMachKernel 2.7i2 :

- aggiunta in interfaccia funzione GetRobotAngles.
2025-09-10 08:54:09 +02:00
parent d0383b7949
commit ec021af82f
3 changed files with 11 additions and 0 deletions
@@ -796,6 +796,15 @@ MachMgr::GetCalcPositions( const Point3d& ptP, const DBLVECTOR& vAng,
   return ( ( pMch != nullptr) ? pMch->GetPositions( ptP, vAng, nStat, dX, dY, dZ) : false) ;
 }

+//----------------------------------------------------------------------------
+bool
+MachMgr::GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                         DBLVECTOR& vAng1, DBLVECTOR& vAng2) const
+{
+   Machine* pMch = GetCurrMachine() ;
+   return ( ( pMch != nullptr) ? pMch->GetRobotAngles( ptP, vtDirT, vtDirA, vAng1, vAng2) : false) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,