/// <summary>
/// Get the joints list of Cylindical Robot
/// </summary>
/// <param name="l1">z offset</param>
/// <param name="l2">z offset</param>
/// <param name="l3">radius offset</param>
/// <returns></returns>
public static List <IJoint> GetCylindical(double l1, double l2, double l3)
{
RotationJoint phi = new RotationJoint
{
Length = l1,
TransformAxis = TransformType.RotateZ
};
TranslationJoint h = new TranslationJoint
{
Length = l2,
TransformAxis = TransformType.AxisZ
};
// Just assume the initial state of this joint is pointing to Y axis
TranslationJoint r = new TranslationJoint
{
Length = l3,
TransformAxis = TransformType.AxisY
};
List <IJoint> joints = new List <IJoint>
{
phi,
h,
r
};
return(joints);
}
/// <summary>
/// Get a configuration of Spherical robot
/// </summary>
/// <param name="l1"></param>
/// <param name="l2"></param>
/// <param name="l3"></param>
/// <returns></returns>
public static List <IJoint> GetSpherical(double l1, double l2, double l3)
{
RotationJoint phi = new RotationJoint
{
Length = l1,
TransformAxis = TransformType.RotateZ
};
RotationJoint theta = new RotationJoint
{
Length = l2,
TransformAxis = TransformType.RotateX
};
TranslationJoint r = new TranslationJoint
{
Length = l3,
TransformAxis = TransformType.AxisZ
};
return(new List <IJoint>
{
phi,
theta,
r
});
}
/// <summary>
/// Get the joints of the cartesian
/// </summary>
/// <param name="lx">basic length of x axis offset</param>
/// <param name="ly">basic length of y axis offset</param>
/// <param name="lz">basic length of z axis offset</param>
/// <returns>joints list</returns>
public static List <IJoint> GetCartesian(double lx, double ly, double lz)
{
TranslationJoint sx = new TranslationJoint
{
Length = lx,
TransformAxis = TransformType.AxisX
};
TranslationJoint sy = new TranslationJoint
{
Length = ly,
TransformAxis = TransformType.AxisY
};
TranslationJoint sz = new TranslationJoint
{
Length = lz,
TransformAxis = TransformType.AxisZ
};
List <IJoint> joints = new List <IJoint>
{
sx,
sy,
sz
};
return(joints);
}
