mirror of
https://github.com/hanzoai/jube-fork.git
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richard-churchman
cc0a2bee21
Included open-source Accord.net library code natively to the solution given the deprecated state of that project. Accord.net will be supported inside Jube for own needs (such as upgrading to .Net 7+). Accord.net libraries modified to compile to .Net 6. Modified Accord.net libraries to better support Newtonsoft Json.net serialisation. Included annotations in the Accord.net libraries to house important dependency statistics. Serialised json can be used independently of Jube to recall a Neural Network. Removal of Binary Serializer totally as a precursor to the projects support of .Net 7+. Extensive bug fixing in crucial functions of Neural Network training and recall. While this part of the system remains in Alpha, it is substantially more fit for purpose.
92 lines
3.0 KiB
C#
92 lines
3.0 KiB
C#
// Accord Math Library
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// The Accord.NET Framework
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// http://accord-framework.net
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//
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// Copyright © Rémy Dispagne, 2013
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// cramer at libertysurf.fr
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//
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// Copyright © César Souza, 2009-2017
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// cesarsouza at gmail.com
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//
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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namespace Accord.Math.Kinematics
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{
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using System;
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using Accord.Compat;
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/// <summary>
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/// Denavit Hartenberg joint-description parameters.
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/// </summary>
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///
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[Serializable]
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public class DenavitHartenbergParameters
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{
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/// <summary>
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/// Angle in radians about common normal, from
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/// old <c>z</c> axis to the new <c>z</c> axis.
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/// </summary>
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///
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public double Alpha { get; set; }
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/// <summary>
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/// Angle in radians about previous <c>z</c>,
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/// from old <c>x</c> to the new <c>x</c>.
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/// </summary>
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///
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public double Theta { get; set; }
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/// <summary>
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/// Length of the joint (also known as <c>a</c>).
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/// </summary>
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///
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public double Radius { get; set; }
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/// <summary>
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/// Offset along previous <c>z</c> to the common normal (also known as <c>d</c>).
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/// </summary>
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///
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public double Offset { get; set; }
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/// <summary>
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/// Initializes a new instance of the <see cref="DenavitHartenbergParameters"/> class.
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/// </summary>
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///
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/// <param name="alpha">Angle (in radians) of the Z axis relative to the last joint.</param>
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/// <param name="theta">Angle (in radians) of the X axis relative to the last joint.</param>
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/// <param name="radius">Length or radius of the joint.</param>
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/// <param name="offset">Offset along Z axis relatively to the last joint.</param>
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///
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public DenavitHartenbergParameters(double alpha, double theta, double radius, double offset)
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{
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this.Alpha = alpha;
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this.Theta = theta;
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this.Radius = (float)radius;
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this.Offset = (float)offset;
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}
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/// <summary>
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/// Denavit Hartenberg parameters constructor
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/// </summary>
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///
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public DenavitHartenbergParameters()
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{
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}
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}
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}
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