/// <summary>
/// 6軸可動制限を作る
/// </summary>
/// <param name="jointParam">6軸ジョイントパラメータ</param>
/// <returns>6軸可動制限</returns>
private Joint6Restriction CreateRestriction(Spring6DofJointParam jointParam)
{
var movementRestriction = new Joint6MovementRestriction(jointParam.MoveLimitationMin, jointParam.MoveLimitationMax);
var rotationRestriction = new Joint6RotationRestriction(jointParam.RotationLimitationMin, jointParam.RotationLimitationMax);
return(new Joint6Restriction(movementRestriction, rotationRestriction));
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="movementRestriction">Movement restrictions</param>
/// <param name="rotationRestriction">Rotation limit</param>
public Joint6Restriction(Joint6MovementRestriction movementRestriction, Joint6RotationRestriction rotationRestriction)
{
this.movementRestriction = movementRestriction;
this.rotationRestriction = rotationRestriction;
}
