public LbcbConversion(String label, Lbcb lbcb, RigidTransform transform) { String newlabel = lbcb.getLabel() + "_" + label; this.lbcb = new Lbcb( newlabel, lbcb.getActuatorPins()); this.transform = transform; this.label = label; }
public void setLbcb(bool isLbcb2, double[] flattenedPinArray, double[] motionCenter, double[] flattenedTransformation) { double[][] pins = new double[6][]; double[,] xform = new double[6, 6]; double[,] xpins = new double[6, 6]; List2String l2s = new List2String(); DenseMatrix2String m2s = new DenseMatrix2String(); for (int r = 0; r < 6; r++) { pins[r] = new double[6]; for (int c = 0; c < 6; c++) { pins[r][c] = flattenedPinArray[r * 6 + c]; xpins[r,c] = flattenedPinArray[r * 6 + c]; xform[r, c] = flattenedTransformation[r * 6 + c]; } } log.Info("Creating " + (isLbcb2 ? "LBCB 2" : "LBCB 1") + " with \n]\t Motion Center: " + l2s.ToString(motionCenter) + "\n\t Transformation Matrix: " + m2s.ToString(DenseMatrix.OfArray(xform)) + "\n\t Pins Locations: " + m2s.ToString(DenseMatrix.OfArray(xpins))); Lbcb lbcb = new Lbcb((isLbcb2 ? "LBCB 2" : "LBCB 1"), pins); lbcbs[(isLbcb2 ? 1 : 0)] = lbcb; RigidTransform transform = new RigidTransform(motionCenter,xform); transforms[(isLbcb2 ? 1 : 0)] = transform; }