public void FanucWithLinear() { var Robot = new FanucCR7(); Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0)); Matrix alpha = Matrix.Eye(7) * 0.05; alpha.matrix[6, 6] = 1; var result = Robot.ComputeInverseKinematics(new Vector(0, 1100, 677), new RotationMatrix(Matrix.Eye(3).matrix), alpha, 0.001, 200); Assert.IsTrue(result.DidConverge); Assert.IsTrue(result.q[6] > 1); }
// Start is called before the first frame update void Awake() { Robot = new FanucCR7(); //Robot.AddLinearJoint(new Vector(0, 0, 0), new Vector(0, 1, 0)); }