public void Connect(ArmPlanner arm)
{
Arm = arm;
HandObject = Arm.HandObject;
getGrasps = true;
SetRegionSizing();
GetAllGripPoints();
}
public void Disconnect()
{
getGrasps = false;
Arm = null;
HandObject = null;
PossibleHoldPoints = null;
RegionSizing = 0;
fingerSpace = 0;
}
public Configuration(Wrist Hand)
{
transform = new PositionRotation(Hand.transform.position, Hand.transform.rotation);
FingerList = new List <PositionRotation[]>();
foreach (var finger in Hand.FingerList)
{
var jointlist = new PositionRotation[finger.JointNum];
jointlist = finger.GetJointsPose();
FingerList.Add(jointlist);
}
}
// Use this for initialization
void Start()
{
// Initialize Trees and solutions
ArmTree = new Tree();
GoalTree = new Tree();
SolutionPathList = new SolutionList();
ArmColliderList = GetComponentsInChildren <Collider>();
armSolver = GetComponent <ArmSolver>();
// Initialize distance tolerances
Delta = Toolbox.Instance.GetConnectionDistance();
if (HandObject == null)
{
HandObject = GetComponentInChildren <Wrist>();
}
doSearch = true; // Placeholder until multiarm is built
}
