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 }