modified manipulator
@@ -30,12 +30,12 @@ void setup()
Manipulator manipulator;
manipulator.addWorld(WORLD, COMP1);
- manipulator.addComponent(COMP1, WORLD, COMP2, makeEigenVector3(-0.100, 0.0, 0.0), IDENTITY_MATRIX, 1, Z_AXIS, 0.5, makeEigenMatrix3(1, 1, 1, 1, 1, 1, 3, 1, 1));
- manipulator.addComponent(COMP2, COMP1, COMP3, makeEigenVector3(0.0, 0.0, 0.050), IDENTITY_MATRIX, 2, Y_AXIS, 1.5);
+ manipulator.addComponent(COMP1, WORLD, COMP2, MATH::makeVector3(-0.100, 0.0, 0.0), IDENTITY_MATRIX, 1, Z_AXIS, 0.5, MATH::makeMatrix3(1, 1, 1, 1, 1, 1, 3, 1, 1));
+ manipulator.addComponent(COMP2, COMP1, COMP3, MATH::makeVector3(0.0, 0.0, 0.050), IDENTITY_MATRIX, 2, Y_AXIS, 1.5);
manipulator.addComponentChild(COMP2, COMP4);
- manipulator.addComponent(COMP3, COMP2, COMP4, makeEigenVector3(0.0, 0.050, 0.0), IDENTITY_MATRIX, NONE);
- manipulator.addComponent(COMP4, COMP2, TOOL, makeEigenVector3(0.0, 0.0, 0.050), IDENTITY_MATRIX, 3, Y_AXIS, 2.0);
- manipulator.addTool(TOOL, COMP4, makeEigenVector3(0.0, 0.0, 0.025), IDENTITY_MATRIX, 4, 0.1);
+ manipulator.addComponent(COMP3, COMP2, TOOL, MATH::makeVector3(0.0, 0.050, 0.0), IDENTITY_MATRIX, 3, Y_AXIS, 2.0);
+ manipulator.addComponent(COMP4, COMP2, TOOL, MATH::makeVector3(0.0, 0.0, 0.050), IDENTITY_MATRIX, NONE);
+ manipulator.addTool(TOOL, COMP3, MATH::makeVector3(0.0, 0.0, 0.025), IDENTITY_MATRIX, 4, 0.1);
manipulator.checkManipulatorSetting();
}
