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+--- Thread: MoveL_test input issue in .Net application (/Thread-MoveL-test-input-issue-in-Net-application)
MoveL_test input issue in .Net application-Jan W-03-16-2022
Hi all,
I'm trying to use the MoveL_Test function in a .Net application with the RoboDK API. I'm having trouble with an unexpected error.
The function (FunctionNetApplication.png) requires the joints of the two poses, when I use the joints of the second pose for j2 it returns the following error (error.png) which leads back to the MoveL_Test function.
Other references (like here *) suggest that the pose (Mat) should be used as the input of the end target.
Is it a mistake from my side? or is this a bug present in the .Net application?
（*//www.sinclairbody.com/doc/en/CppAPI/class_robo_d_k___a_p_i_1_1_item.html#ae1b458eb3d330523c3a2d8e983eaa692)
Kind regards,
Jan
RE: MoveL_test input issue in .Net application-Jeremy-03-17-2022
I'm pretty sure the MoveL_Test requires the pose as a mat and not J2, it looks like a copy-paste from the MoveJ_Test issue.
Jeremy
RE: MoveL_test input issue in .Net application-Albert-04-05-2022
We just pushed an update on GitHub to fix this issue (MoveL_Test on the C# NuGet API).
MoveL_Test takes a pose as the second parameter.
这是correct function:
Code:
public int MoveL_Test(double[] j1, Mat t2, double minstepDeg = -1)
{
Link.check_connection();
var command = "CollisionMoveL";
Link.send_line(command);
Link.send_item(this);
Link.send_array(j1);
Link.send_pose(t2);
Link.send_int((int) (minstepDeg * 1000.0));
Link.ReceiveTimeout = 3600 * 1000;
var collision = Link.rec_int();
Link.ReceiveTimeout = Link.DefaultSocketTimeoutMilliseconds;
Link.check_status();
return collision;
}