public void RotateLegs(double[] thetas, Boolean areDegrees)
{
double angle1_d, angle2_d, angle3_d;
if (areDegrees == false)
{
angle1_d = serviceConverter.ConvertRadiansToDegrees(thetas[0]);
angle2_d = serviceConverter.ConvertRadiansToDegrees(thetas[1]);
angle3_d = serviceConverter.ConvertRadiansToDegrees(thetas[2]);
}
else
{
angle1_d = thetas[0];
angle2_d = thetas[1];
angle3_d = thetas[2];
}
float angle1 = serviceConverter.ConvertDoubleToFloat(angle1_d);
float angle2 = serviceConverter.ConvertDoubleToFloat(angle2_d);
float angle3 = serviceConverter.ConvertDoubleToFloat(angle3_d);
topLPivots[0].rotation = Quaternion.Euler(new Vector3(-angle1, topLPivots[0].eulerAngles.y, topLPivots[0].eulerAngles.z));
topLPivots[1].rotation = Quaternion.Euler(new Vector3(-angle2, topLPivots[1].eulerAngles.y, topLPivots[1].eulerAngles.z));
topLPivots[2].rotation = Quaternion.Euler(new Vector3(-angle3, topLPivots[2].eulerAngles.y, topLPivots[2].eulerAngles.z));
}
public void InitSliderValuesFK()
{
for (int i = 0; i < DeltaRobotFKUtils.NO_OF_LEGS; i++)
{
sliders[i].minValue = DeltaRobotFKUtils.SLIDER_MIN_VALUE;
sliders[i].maxValue = DeltaRobotFKUtils.SLIDER_MAX_VALUE;
}
sliders[0].value = serviceConverter.ConvertDoubleToFloat(DeltaRobotFKUtils.VALUE_THETA_1);
sliders[1].value = serviceConverter.ConvertDoubleToFloat(DeltaRobotFKUtils.VALUE_THETA_2);
sliders[2].value = serviceConverter.ConvertDoubleToFloat(DeltaRobotFKUtils.VALUE_THETA_3);
/*sliders[0].value = serviceConverter.ConvertDoubleToFloat(thetas[0]);
* sliders[1].value = serviceConverter.ConvertDoubleToFloat(thetas[1]);
* sliders[2].value = serviceConverter.ConvertDoubleToFloat(thetas[2]);*/
}
private void InvisibleSpheresSameHeight(Vector3[] centresSpheres, double[] thetas)
{
InitSingularityVariables(centresSpheres, thetas);
double[] coefs = new double[3] {
C, B, A
};
System.Numerics.Complex[] roots = FindRoots.Polynomial(coefs);
for (int i = 0; i < roots.Length; i++)
{
if (roots[i].Imaginary == 0 && roots[i].Real < 0)
{
endEffectorPosition = new Vector3(serviceConverter.ConvertDoubleToFloat(x_), serviceConverter.ConvertDoubleToFloat(roots[i].Real),
serviceConverter.ConvertDoubleToFloat(y_));
}
}
}
private void SetCircleCenter1(double radian1)
{
float x = 0.0f;
float y = serviceConverter.ConvertDoubleToFloat(-W_B - L * Math.Cos(radian1) + U_P);
float z = serviceConverter.ConvertDoubleToFloat(-L * Math.Sin(radian1));
SetCentreOfSpecificCircle(0, x, y, z);
}