private void SetupVariables()
{
serviceConverter = new ServiceConverter();
serviceInitializer = ScriptableObject.CreateInstance <ServiceInitializer>();
serviceInitializer.Init(serviceConverter, topVerticesPoints, PPoints, sliders);
simulation = gameObject.AddComponent <PickAndPlaceSimulation>();
thetas = new double[TOTAL_NO_JOINTS] {
0.0, 0.0, 0.0
};
Ei = new double[TOTAL_NO_JOINTS];
Fi = new double[TOTAL_NO_JOINTS];
Gi = new double[TOTAL_NO_JOINTS];
L = DeltaRobotIKUtils.L;
l = DeltaRobotIKUtils.l;
}
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);
}