comments

osh1996 · osh1996 · commit c93624c98b1e · 2017-11-20T20:46:47.000-05:00
diff --git a/MiraLink.groovy b/MiraLink.groovy
@@ -26,7 +26,7 @@ if(args == null){
 	DHParameterKinematics arm = base.getAllDHChains().get(0)
 	ArrayList<DHLink> dhLinks=arm.getChain().getLinks();
 	DHLink dh = dhLinks.get(0);
-	args=[dh,(int)2]
+	args=[dh,(int)2] // args = [dh_parameters, joint #]  !!!Pass extra parameters into here if I need them from external script
 }
 
  CSG reverseDHValues(CSG incoming,DHLink dh ){
@@ -43,5 +43,6 @@ if(args == null){
 }
 
 CSG DummyStandInForLink = new Cube(20).toCSG()
+//here i need to define the shape(s) that will result in a new link for the arm
 
 return [moveDHValues(DummyStandInForLink,args[0])]

Original file line number	Diff line number	Diff line change
`@@ -26,7 +26,7 @@ if(args == null){`
`26`	`26`	`DHParameterKinematics arm = base.getAllDHChains().get(0)`
`27`	`27`	`ArrayList<DHLink> dhLinks=arm.getChain().getLinks();`
`28`	`28`	`DHLink dh = dhLinks.get(0);`
`29`		`- args=[dh,(int)2]`
	`29`	`+ args=[dh,(int)2] // args = [dh_parameters, joint #] !!!Pass extra parameters into here if I need them from external script`
`30`	`30`	`}`
`31`	`31`
`32`	`32`	`CSG reverseDHValues(CSG incoming,DHLink dh ){`
`@@ -43,5 +43,6 @@ if(args == null){`
`43`	`43`	`}`
`44`	`44`
`45`	`45`	`CSG DummyStandInForLink = new Cube(20).toCSG()`
	`46`	`+//here i need to define the shape(s) that will result in a new link for the arm`
`46`	`47`
`47`	`48`	`return [moveDHValues(DummyStandInForLink,args[0])]`