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(); }