// Constructor method
public ForwardKinematicsSolver(Properties p) {
result = new Matrix4x4();
t1 = new Matrix4x4(p.getValueJoint1(), -90, 0, p.getValueLink1());
t2 = new Matrix4x4(p.getValueJoint2(), 0, p.getValueLink2(), 0);
t3 = new Matrix4x4(p.getValueJoint3(), -90, p.getValueLink3(), offsetShoulder);
t4 = new Matrix4x4(p.getValueJoint4(), 90, offsetGripper, 0);
t5 = new Matrix4x4(p.getValueJoint5(), -90, 0, 0);
t6 = new Matrix4x4(p.getValueJoint6(), 0, 0, 0);
calcResult(p);
}
// 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;
}