コード例 #1
0
 // Start is called before the first frame update
 void Awake()
 {
     Robot = new RobotDynamics.Robots.Robot();
     Robot
     .AddJoint('y', new Vector(0, 0.03293461, 0))
     .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0))
     .AddJoint('y', new Vector(0.2241943, 0.4691764, 0))
     .AddJoint('y', new Vector(0.1998537, -0.05284593, 0));
 }
コード例 #2
0
 // Start is called before the first frame update
 void Awake()
 {
     Robot = new RobotDynamics.Robots.Robot();
     Robot
     .AddJoint('y', new Vector(0, 0.03293461, 0))
     .AddLinearJoint(new Vector(0, .5, 0), new Vector(0, 1, 0))
     .AddJoint('y', new Vector(-0.2681684, 0.01463607, -0.0003781915))
     .AddJoint('y', new Vector(0.1998537, -0.05284593, 0));
 }
コード例 #3
0
        public void MixedRobot()
        {
            var Robot = new RobotDynamics.Robots.Robot();

            Robot.AddJoint('x', new Vector(0, 4, 0))
            .AddJoint('x', new Vector(0, 4, 0))
            .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 0, 1));
            Robot.ComputeForwardKinematics(new double[] { 0, 0, 0 });
        }
コード例 #4
0
        public void LinearRobot()
        {
            var Robot = new RobotDynamics.Robots.Robot();

            Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(1, 0, 0))
            .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0))
            .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 0, 1));

            var result = Robot.ComputeInverseKinematics(new Vector(0, 0, 0), new RotationMatrix(Matrix.Eye(3).matrix));

            Assert.IsTrue(result.DidConverge);
            Assert.IsTrue(result.q.All(x => x < 0.001f));
        }
コード例 #5
0
        public void LinearRobot_3()
        {
            var Robot = new RobotDynamics.Robots.Robot();

            Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(1, 0, 0))
            .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0))
            .AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 0, 1));

            var result = Robot.ComputeInverseKinematics(new Vector(1, -1, 1), new RotationMatrix(Matrix.Eye(3).matrix), 0.001, 0.05, 100, 0.001f);

            Assert.IsTrue(result.DidConverge);
            Assert.IsTrue(Math.Abs(result.q[0] - 1) < 0.01f);
            Assert.IsTrue(Math.Abs(result.q[1] + 1) < 0.01f);
            Assert.IsTrue(Math.Abs(result.q[2] - 1) < 0.01f);
        }