Class DirectionBranchPackUtil

Namespace

Hi.Mech.Topo

Assembly

HiMech.dll

Utility of topology: the matrix of a branch chain (GetBranchChain(IGetAnchor, IGetAnchor)), the one the kinematic queries and the XYZABC solvers share.

public static class DirectionBranchPackUtil

Inheritance

object

DirectionBranchPackUtil

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

GetMat4d(IEnumerable<DirectionBranchEntry>)

Get the transformation matrix. The transformation matrix is obtained by mat(n-1)*...*mat(1)*mat(0). Where the number in parentheses is the index number of the chain.

public static mat4d_t GetMat4d(this IEnumerable<DirectionBranchEntry> chain)

Parameters

chain IEnumerable<DirectionBranchEntry>

chain

Returns

mat4d_t

transformation matrix