bool MorganSCARASolution::set_optional(const arm_options_t& options) { arm_options_t::const_iterator i; i= options.find('T'); // Theta arm1 length if(i != options.end()) { arm1_length= i->second; } i= options.find('P'); // Psi arm2 length if(i != options.end()) { arm2_length= i->second; } i= options.find('X'); // Home initial position X if(i != options.end()) { morgan_offset_x= i->second; } i= options.find('Y'); // Home initial position Y if(i != options.end()) { morgan_offset_y= i->second; } init(); return true; }
bool MorganSCARASolution::set_optional(const arm_options_t& options) { arm_options_t::const_iterator i; i= options.find('T'); // Theta arm1 length if(i != options.end()) { arm1_length= i->second; } i= options.find('P'); // Psi arm2 length if(i != options.end()) { arm2_length= i->second; } i= options.find('X'); // Home initial position X if(i != options.end()) { morgan_offset_x= i->second; } i= options.find('Y'); // Home initial position Y if(i != options.end()) { morgan_offset_y= i->second; } i= options.find('A'); // Scaling X_AXIS if(i != options.end()) { morgan_scaling_x= i->second; } i= options.find('B'); // Scaling Y_AXIS if(i != options.end()) { morgan_scaling_y= i->second; } //i= options.find('C'); // Scaling Z_AXIS //if(i != options.end()) { // morgan_scaling_z= i->second; //} i= options.find('D'); // Undefined min if(i != options.end()) { this->morgan_undefined_min = i->second; } i= options.find('E'); // undefined max if(i != options.end()) { this->morgan_undefined_max = i->second; } init(); return true; }