/// <summary>
/// IF the instance has allready been created, the instance created before will be given back, when calling this method. Ohterwise a new instance will be given back
/// </summary>
/// <param name="dhparam"></param>
/// <returns></returns>
public static InverseKinematics Instantiate(DHParameter dhparam, ActualPosition _ActualPosition) //static variables are shared between all class instances.
{
if (instance == null) //Prevents of Locking if the instance allready has been created. IF the instance has allready been created, this instance created before will be given back, when calling this method
{
lock (LockObj) //no new instance can be createt from any thread as long as the first one onlocks the object
{
if (instance == null)
{
instance = new InverseKinematics(dhparam, _ActualPosition);
}
}
}
return(instance);
}
/// <summary>
/// IF the instance has allready been created, the instance created before will be given back, when calling this method. Ohterwise a new instance will be given back
/// </summary>
/// <param name="dhparam"></param>
/// <returns></returns>
public static KinematicControl Instantiate(DHParameter dhparam, ActualPosition _ActualPosition)
{
if (instance == null) //Prevents of Locking if the instance allready has been created
{
lock (LockObj) //no new instance can be createt from any thread as long as the first one onlocks the object
{
if (instance == null)
{
instance = new KinematicControl(dhparam, _ActualPosition);
}
}
}
return(instance);
}
/// <summary>
/// IF the instance has allready been created, the instance created before will be given back, when calling this method. Ohterwise a new instance will be given back
/// </summary>
/// <param name="dhparam"></param>
/// <returns></returns>
public static ForewardKinematics Instantiate(DHParameter dhparam) //static variables are shared between all class instances.
{
if (instance == null) //Prevents of Locking if the instance allready has been created
{
lock (LockObj) //no new instance can be createt from any thread as long as the first one onlocks the object
{
if (instance == null)
{
instance = new ForewardKinematics(dhparam);
}
}
}
return(instance);// when using this methode, allways the same and only instance will be returned
}
private static object LockObj = new Object(); //this object can only be used from one Thread at the same time (UI-Thread OR Backgroundthread, but not both at a time, can use the same Instance of this Class)
//Note that instead of locking on typeof(Singleton) as some versions of this implementation do,
//Lock on the value of a static variable which is private to the class. Locking on objects
//which other classes can access and lock on (such as the type of this Class) risks performance issues
//and even deadlocks. Wherever possible, only lock on objects specifically created for the purpose of locking, or which document that they are
//to be locked on for specific purposes (e.g. for waiting/pulsing a queue).
//Usually such objects should be private to the class they are used in.
//This helps to make writing thread-safe applications significantly easier.
///////////////////////////////DHParam belegung
//int d1 = 0;
//double d2 = 0;
//double d3 = 0;
//int d4 = 23;
//double d5 = 0;
//int d6 = 10;
//double a1 = 0;
//int a2 = 25;
//int a3 = 0;
//double a4 = 0;
//int a5 = 0;
//double a6 = 0;
//double alpha1 = -Math.PI / 2;
//double alpha2 = 0;
//double alpha3 = Math.PI / 2;
//double alpha4 = -Math.PI / 2;
//double alpha5 = Math.PI / 2;
//double alpha6 = 0;
private InverseKinematics(DHParameter dhparam, ActualPosition _ActualPosition)
: base(dhparam)
{
this.ActualPosition = _ActualPosition;
}
private KinematicControl(DHParameter dhparam, ActualPosition _ActualPosition)
{
forewardkinematics = ForewardKinematics.Instantiate(dhparam);
inversekinematics = InverseKinematics.Instantiate(dhparam, _ActualPosition);
}
public KinematicBase(DHParameter dhparam)
{
this.DHParam = dhparam;
}
private ForewardKinematics(DHParameter dhparam)
: base(dhparam)
{
}
public InverseKinematicsForNC(DHParameter dhparam)
: base(dhparam)
{
}