I tried to make a simulation, when I choose endpoints of edges, and generate Line statement, and robot will also move to those endpoints. But the gesture of robot is wrong, collision happened. So how do I evaluate gesture of robot by c#.
here is my pseudo code to generate statement:
var geo=Node.GeometrySets.First(); var cur=geo.TopologyCurves.First(); var edge = cur.Edge; var eps = edge.Endpoints; var state= MainRoutine.AddStatement<LinStatement>(); var pe = state.Positions; pe.TransformationInWorld = rel; var pq = pe.TransformationInWorld; pq.Px += eps.Item2.X; pq.Py += eps.Item2.Y; pq.Pz += eps.Item2.Z; pe.TransformationInWorld = pq;