void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
_entity = (simengine.KukaLBR3Entity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
_state = new arm.ArticulatedArmState();
// use the entity state as our state
_state.Joints = _entity.Joints;
// create dictionary for quick lookup of joints from name
_jointLookup = new Dictionary <string, Joint>();
foreach (Joint j in _state.Joints)
{
_jointLookup.Add(j.State.Name, j);
}
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
