C# (CSharp) Robot.Kinematics.DenavitHartenberg DHFrameInfo Examples

Example #1

File: DHTransformation.cs Project: eldb2/robotic-tic-tac-toe-lynxmotion

		public static Matrix4x4 ToPreviousFrame(DHFrameInfo frameInfo)
		{
			double a = frameInfo.A;
			double d = frameInfo.D;

			double cosTheta = Math.Cos(frameInfo.ThetaRadian);
			double sinTheta = Math.Sin(frameInfo.ThetaRadian);

			double cosAlpha = Math.Cos(frameInfo.AlphaRadian);
			double sinAlpha = Math.Sin(frameInfo.AlphaRadian);

			return new Matrix4x4(
				cosTheta, -sinTheta * cosAlpha, sinTheta * sinAlpha, a * cosTheta,
				sinTheta, cosTheta * cosAlpha, -cosTheta * sinAlpha, a * sinTheta,
				0, sinAlpha, cosAlpha, d,
				0, 0, 0, 1);
		}

Example #2

File: DHTransformation.cs Project: zwer97/robotic-tic-tac-toe-lynxmotion

        public static Matrix4x4 ToPreviousFrame(DHFrameInfo frameInfo)
        {
            double a = frameInfo.A;
            double d = frameInfo.D;

            double cosTheta = Math.Cos(frameInfo.ThetaRadian);
            double sinTheta = Math.Sin(frameInfo.ThetaRadian);

            double cosAlpha = Math.Cos(frameInfo.AlphaRadian);
            double sinAlpha = Math.Sin(frameInfo.AlphaRadian);

            return(new Matrix4x4(
                       cosTheta, -sinTheta * cosAlpha, sinTheta * sinAlpha, a * cosTheta,
                       sinTheta, cosTheta * cosAlpha, -cosTheta * sinAlpha, a * sinTheta,
                       0, sinAlpha, cosAlpha, d,
                       0, 0, 0, 1));
        }