public JointTransform Compose(JointTransform that)
{
Func <Z3Point3D, Z3Point3D> composed =
joint => that.TransformFunc(this.TransformFunc(joint));
return(new JointTransform(composed));
}
public CompositeBodyTransform ComposeJointTransform(JointType jointType, JointTransform point3DTransform)
{
CompositeBodyTransform composed = new CompositeBodyTransform(this.JointTransforms);
if (!this.JointTransforms.ContainsKey(jointType))
{
composed.JointTransforms.Add(jointType, point3DTransform);
}
else
{
composed.JointTransforms[jointType] = this.JointTransforms[jointType].Compose(point3DTransform);
}
return(composed);
}
public void Compose(JointType jointType, JointTransform point3DTransform)
{
this.mTransform = this.mTransform.Compose(jointType, point3DTransform);
}
public void Compose(JointType jointType, JointTransform point3DTransform)
{
this.mTransform = this.mTransform.Compose(jointType, point3DTransform);
}
public CompositeBodyTransform(JointType jointType, JointTransform point3DTransform)
: this()
{
this.ComposeJointTransform(jointType, point3DTransform);
}
public JointTransform Compose(JointTransform that)
{
Func<Z3Point3D, Z3Point3D> composed =
joint => that.TransformFunc(this.TransformFunc(joint));
return new JointTransform(composed);
}
public CompositeBodyTransform ComposeJointTransform(JointType jointType, JointTransform point3DTransform)
{
CompositeBodyTransform composed = new CompositeBodyTransform(this.JointTransforms);
if (!this.JointTransforms.ContainsKey(jointType))
composed.JointTransforms.Add(jointType, point3DTransform);
else
composed.JointTransforms[jointType] = this.JointTransforms[jointType].Compose(point3DTransform);
return composed;
}
public CompositeBodyTransform Compose(JointType jointType, JointTransform point3DTransform)
{
CompositeBodyTransform that = new CompositeBodyTransform(jointType, point3DTransform);
return this.Compose(that);
}
public CompositeBodyTransform Compose(JointType jointType, JointTransform point3DTransform)
{
CompositeBodyTransform that = new CompositeBodyTransform(jointType, point3DTransform);
return(this.Compose(that));
}
public CompositeBodyTransform(JointType jointType, JointTransform point3DTransform)
: this()
{
this.ComposeJointTransform(jointType, point3DTransform);
}
