Beispiel #1
0
 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;
 }
Beispiel #2
0
    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();
    }