Marcus MazonDel
MazonDel
/ customdh.groovy
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August 29, 2015 14:21
— forked from madhephaestus/customdh.groovy
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| import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; | |
| import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; | |
| import java.nio.file.Files; | |
| import java.nio.file.StandardCopyOption; | |
| public class ComputedGeometricModel implements DhInverseSolver{ | |
| private DHChain dhChain; | |
| public ComputedGeometricModel(DHChain dhChain) { | |
| this.dhChain = dhChain; | |
| } | |
| public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector ) { |
MazonDel
/ customdh.groovy
Last active
August 29, 2015 14:22
— forked from madhephaestus/customdh.groovy
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngineWidget; | |
| import com.neuronrobotics.sdk.addons.kinematics.DHChain; | |
| import com.neuronrobotics.sdk.addons.kinematics.DHLink; | |
| import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; | |
| import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver | |
| import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR | |
| import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; | |
| import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; | |
| import eu.mihosoft.vrl.v3d.CSG; |