/// <summary>
/// Executes the transform calculations (T = Z*X).
/// </summary>
///
/// <returns>Transform matrix T.</returns>
///
/// <remarks>Calling this method also updates the Transform property.</remarks>
///
public void Compute(DenavitHartenbergParameters parameters)
{
// Calculate Z with Z = TranslationZ(d).RotationZ(theta)
Z = Matrix4x4.Multiply
(
Matrix4x4.CreateTranslation(new Vector3(0f, 0f, (float)parameters.Offset)),
Matrix4x4.CreateRotationZ((float)parameters.Theta)
);
// Calculate X with X = TranslationX(radius).RotationZ(alpha)
X = Matrix4x4.Multiply
(
Matrix4x4.CreateTranslation(new Vector3((float)parameters.Radius, 0f, 0f)),
Matrix4x4.CreateRotationX((float)parameters.Alpha)
);
// Calculate the transform with T=Z.X
Transform = Matrix4x4.Multiply(Z, X);
}
/// <summary>
/// Adds an object to the end of this <see cref="DenavitHartenbergJointCollection"/>.
/// </summary>
///
/// <param name="parameters">The <see cref="DenavitHartenbergParameters">
/// parameters</see> specifying the joint to be added.</param>
///
public void Add(DenavitHartenbergParameters parameters)
{
Add(parameters);
}
/// <summary>
/// Initializes a new instance of the <see cref="DenavitHartenbergJoint"/> class.
/// </summary>
///
/// <param name="parameters">The <see cref="DenavitHartenbergParameters">
/// parameters </see> to be used to create the joint.</param>
///
public DenavitHartenbergJoint(DenavitHartenbergParameters parameters)
{
Matrix = new DenavitHartenbergMatrix();
Position = new Vector3(0, 0, 0);
Parameters = parameters;
}
