Пример #1
0
    private void SetupRobotStructure()
    {
        W_B = serviceInitializer.W_B;
        U_B = serviceInitializer.U_B;
        S_B = serviceInitializer.S_B;
        W_P = serviceInitializer.W_P;
        U_P = serviceInitializer.U_P;
        S_P = serviceInitializer.S_P;

        legsGenerator = ScriptableObject.CreateInstance <LegsGenerator>();
        legsGenerator.Init(L, l, Get_a(), Get_b(), Get_c());

        legsRotation = ScriptableObject.CreateInstance <LegsRotation>();
        legsRotation.Init(serviceConverter, topLPivots, parallelograms, PPoints, endEffector);
    }
Пример #2
0
    private void Setup()
    {
        L              = DeltaRobotFKUtils.L;
        l              = DeltaRobotFKUtils.l;
        NO_OF_LEGS     = DeltaRobotFKUtils.NO_OF_LEGS;
        coefficients   = new double[NO_OF_LEGS];
        a              = new double[DeltaRobotFKUtils.FIRST_ROW_NUMBER, DeltaRobotFKUtils.FIRST_COLUMN_NUMBER];
        b              = new double[DeltaRobotFKUtils.SECOND_NUMBER];
        c              = new double[DeltaRobotFKUtils.THIRD_NUMBER];
        thetas         = new double[NO_OF_LEGS];
        centresCircles = new Vector3[NO_OF_LEGS];

        serviceConverter   = new ServiceConverter();
        serviceInitializer = ScriptableObject.CreateInstance <ServiceInitializer>();
        serviceInitializer.Init(serviceConverter, topVerticesPoints, PPoints, sliders);

        legsRotation = ScriptableObject.CreateInstance <LegsRotation>();
        legsRotation.Init(serviceConverter, topLPivots, parallelograms, PPoints, endEffector);
    }