// If any of the six joint angles have changed the result matrix is calculated // Any joint angle changes are stored in the transformation matrices // Method returns true if any angle has been changed public boolean calcEndCoordinates(Properties p) { // indicates whether an angle changed angleChanged = false; // check if angle for each joint has changed. If yes, calculate the new matrix if (t1.getTheta() != p.getValueJoint1()) { t1.changeTheta(p.getValueJoint1()); angleChanged = true; } if (t2.getTheta() != p.getValueJoint2()) { t2.changeTheta(p.getValueJoint2()); angleChanged = true; } if (t3.getTheta() != p.getValueJoint3()) { t3.changeTheta(p.getValueJoint3()); angleChanged = true; } if (t4.getTheta() != p.getValueJoint4()) { t4.changeTheta(p.getValueJoint4()); angleChanged = true; } if (t5.getTheta() != p.getValueJoint5()) { t5.changeTheta(p.getValueJoint5()); angleChanged = true; } if (t6.getTheta() != p.getValueJoint6()) { t6.changeTheta(p.getValueJoint6()); angleChanged = true; } if (angleChanged) calcResult(p); return angleChanged; }