// public float dtheta_dt0,dtheta_dt1;
// Start is called before the first frame update
void Start()
{
scale_fact = 0.5f;
// Robot1=new DeltaRobot(scale_fact*4.773502f,scale_fact*10f,scale_fact*21.96040974f,scale_fact*3.58013f);
Robot1 = new DeltaRobot(2f, 5f, 9f, 1f);
Robot1.assign_end_point_pisition(scale_fact * new Vector3(0, -24f, 0));
time = 0f;
//inv_jaco= Robot1.differential_inverse_kinematics(end_point);
Robot1.dtheta_dt_l = new float[] { 0, 0, 0 };
// float[] joint_angle_l= {(Mathf.PI)/3f,(Mathf.PI)/4f,(Mathf.PI)/5f} ;
// Vector3[] frwd_jaco=Robot1.differential_forward_kinematics(joint_angle_l,true);
}
// Update is called once per frame
void Update()
{
// Vector3 dy_dt_to_assign=new Vector3((float) Mathf.Cos(time)*0.3f,(float) Mathf.Cos(time*0.6f)*(-0.25f),(float) Mathf.Cos(time*1.2f)*0.35f);
// Vector3 dy_dt_to_assign=new Vector3(0,0,(float) Mathf.Cos(time*0.6f)*(-0.45f));
Vector3 dy_dt_to_assign = scale_fact * new Vector3(0, (float)-1f * Mathf.Cos(time * 0.6f) * (-0.25f), (float)Mathf.Sin(time * 0.6f) * (-0.25f));
Robot1.assign_end_point_velocity(dy_dt_to_assign);
// Debug.Log(Robot1.end_point);
// Debug.Log(Robot1.dy_dt);
Robot1.assign_end_point_pisition(Robot1.end_point + dy_dt_to_assign);
theta_l = Robot1.inverse_kinematics();
dtheta_dt_l = Robot1.inverse_kinematics_velocity();
// dtheta_dt0=dtheta_dt_l[0];dtheta_dt1=dtheta_dt_l[1];
// Debug.Log(dtheta_dt_l);
// for (int i = 0; i < 3; i++){
// Debug.Log(dtheta_dt_l[i]);
// }
Robot1.update_framework();
time += Mathf.PI * 0.05f;
}
