private void SetupVariables() { serviceConverter = new ServiceConverter(); serviceInitializer = ScriptableObject.CreateInstance <ServiceInitializer>(); serviceInitializer.Init(serviceConverter, topVerticesPoints, PPoints, sliders); simulation = gameObject.AddComponent <PickAndPlaceSimulation>(); thetas = new double[TOTAL_NO_JOINTS] { 0.0, 0.0, 0.0 }; Ei = new double[TOTAL_NO_JOINTS]; Fi = new double[TOTAL_NO_JOINTS]; Gi = new double[TOTAL_NO_JOINTS]; L = DeltaRobotIKUtils.L; l = DeltaRobotIKUtils.l; }
private void Setup() { L = DeltaRobotFKUtils.L; l = DeltaRobotFKUtils.l; NO_OF_LEGS = DeltaRobotFKUtils.NO_OF_LEGS; coefficients = new double[NO_OF_LEGS]; a = new double[DeltaRobotFKUtils.FIRST_ROW_NUMBER, DeltaRobotFKUtils.FIRST_COLUMN_NUMBER]; b = new double[DeltaRobotFKUtils.SECOND_NUMBER]; c = new double[DeltaRobotFKUtils.THIRD_NUMBER]; thetas = new double[NO_OF_LEGS]; centresCircles = new Vector3[NO_OF_LEGS]; serviceConverter = new ServiceConverter(); serviceInitializer = ScriptableObject.CreateInstance <ServiceInitializer>(); serviceInitializer.Init(serviceConverter, topVerticesPoints, PPoints, sliders); legsRotation = ScriptableObject.CreateInstance <LegsRotation>(); legsRotation.Init(serviceConverter, topLPivots, parallelograms, PPoints, endEffector); }