public void Init(StewartPlatformFKConverter serviceConverter, Transform[] children, Transform[] childrenFinal, Transform[] bottomLegs, Transform endEffector,
Slider[] sliders, Matrix <double> A_Matrix, Matrix <double> B_Matrix)
{
this.serviceConverter = serviceConverter;
this.children = children;
this.childrenFinal = childrenFinal;
this.bottomLegs = bottomLegs;
this.endEffector = endEffector;
this.sliders = sliders;
this.A_Matrix = A_Matrix;
this.B_Matrix = B_Matrix;
}
private void Initialize()
{
serviceConverter = new StewartPlatformFKConverter();
serviceInitializer = new ServiceInitializerFK(sliders);
serviceInitializer.InitializeSliders();
serviceRotation = ScriptableObject.CreateInstance <ServiceRotationFK>();
serviceRotation.Init(topLegs, bottomLegs, finalLegs, children, sliders);
serviceRotation.RotateLegs();
forwardKinematics = ScriptableObject.CreateInstance <ForwardKinematics>();
forwardKinematics.Init(serviceConverter, children, childrenFinal, bottomLegs, endEffector, sliders,
StewartPlatformFKUtils.A_Matrix, StewartPlatformFKUtils.B_Matrix);
forwardKinematics.SetupVariables();
}
