public FloatVector multiply(Vector <float> vector)
{
Vector <float> newVector = base.Clone();
for (int i = 0; i < newVector.length; i++)
{
newVector[i] *= vector[i];
}
return(FloatVector.fromVectorOfFloat(newVector));
}
public Screw project(Projector projector, bool toFinalBase = true)
{
FloatVector screwWrench = this.getWrench();
FloatVector screwTwist = this.getTwist();
screwWrench = projector.project(screwWrench, toFinalBase);
screwTwist = projector.project(screwTwist, toFinalBase);
Screw screw = Screw.fromWrenchAndTwist(screwWrench, screwTwist, projector.project(this.aplicationPoint, toFinalBase));
return(screw);
}
public FloatVector vectorialProduct(Vector <float> vector)
{
{
Vector <float> newVector = this.Clone();
for (int i = 0; i < this.length; i++)
{
newVector[i] *= this[Modulo.posModulo(i + 1, this.length)] * vector[Modulo.posModulo(i + 2, this.length)]
- this[Modulo.posModulo(i + 2, this.length)] * vector[Modulo.posModulo(i + 1, this.length)];
}
return(FloatVector.fromVectorOfFloat(newVector));
}
}
public Screw changeApplicationPoint(FloatVector point)
{
if (this.aplicationPoint == null)
{
throw new NoApplicationPointException();
}
FloatVector wrench = this.getWrench();
FloatVector twist = this.getTwist();
FloatVector oldPoint = this.aplicationPoint;
FloatVector newPoint = point;
twist = twist.add(newPoint.substract(oldPoint).vectorialProduct(wrench));
return(Screw.fromWrenchAndTwist(wrench, twist, newPoint));
}
public Screw(float[] coordinates, FloatVector applicationPoint) : base(coordinates)
{
this.aplicationPoint = applicationPoint;
}
public static Screw fromWrenchAndTwist(FloatVector wrench, FloatVector twist, FloatVector applicationPoint)
{
return(new Screw(wrench.coordinates.Take(3).Concat(twist.coordinates.Take(3)).ToArray(), applicationPoint));
}
