private void SetupRobotStructure()
{
W_B = serviceInitializer.W_B;
U_B = serviceInitializer.U_B;
S_B = serviceInitializer.S_B;
W_P = serviceInitializer.W_P;
U_P = serviceInitializer.U_P;
S_P = serviceInitializer.S_P;
legsGenerator = ScriptableObject.CreateInstance <LegsGenerator>();
legsGenerator.Init(L, l, Get_a(), Get_b(), Get_c());
legsRotation = ScriptableObject.CreateInstance <LegsRotation>();
legsRotation.Init(serviceConverter, topLPivots, parallelograms, PPoints, endEffector);
}
private void Setup()
{
L = DeltaRobotFKUtils.L;
l = DeltaRobotFKUtils.l;
NO_OF_LEGS = DeltaRobotFKUtils.NO_OF_LEGS;
coefficients = new double[NO_OF_LEGS];
a = new double[DeltaRobotFKUtils.FIRST_ROW_NUMBER, DeltaRobotFKUtils.FIRST_COLUMN_NUMBER];
b = new double[DeltaRobotFKUtils.SECOND_NUMBER];
c = new double[DeltaRobotFKUtils.THIRD_NUMBER];
thetas = new double[NO_OF_LEGS];
centresCircles = new Vector3[NO_OF_LEGS];
serviceConverter = new ServiceConverter();
serviceInitializer = ScriptableObject.CreateInstance <ServiceInitializer>();
serviceInitializer.Init(serviceConverter, topVerticesPoints, PPoints, sliders);
legsRotation = ScriptableObject.CreateInstance <LegsRotation>();
legsRotation.Init(serviceConverter, topLPivots, parallelograms, PPoints, endEffector);
}
