/// <summary>
/// IF the instance has allready been created, the instance created before will be given back, when calling this method. Ohterwise a new instance will be given back
/// </summary>
/// <param name="dhparam"></param>
/// <returns></returns>
public static InverseKinematics Instantiate(DHParameter dhparam, ActualPosition _ActualPosition) //static variables are shared between all class instances.
{
if (instance == null) //Prevents of Locking if the instance allready has been created. IF the instance has allready been created, this instance created before will be given back, when calling this method
{
lock (LockObj) //no new instance can be createt from any thread as long as the first one onlocks the object
{
if (instance == null)
{
instance = new InverseKinematics(dhparam, _ActualPosition);
}
}
}
return(instance);
}
private KinematicControl(DHParameter dhparam, ActualPosition _ActualPosition)
{
forewardkinematics = ForewardKinematics.Instantiate(dhparam);
inversekinematics = InverseKinematics.Instantiate(dhparam, _ActualPosition);
}