/// <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));
        }
Exemplo n.º 2
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 /// <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;
 }