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;
}
