Accord.Math.Kinematics.DenavitHartenbergMatrix.Compute C# (CSharp) Method

        public void Compute(DenavitHartenbergParameters parameters)
        {
            // Calculate Z with Z = TranslationZ(d).RotationZ(theta)
            Z = Matrix4x4.Multiply
            (
                Matrix4x4.CreateTranslation(new Vector3(0f, 0f, (float)parameters.Offset)),
                Matrix4x4.CreateRotationZ((float)parameters.Theta)
            );

            // Calculate X with X = TranslationX(radius).RotationZ(alpha)
            X = Matrix4x4.Multiply
            (
                Matrix4x4.CreateTranslation(new Vector3((float)parameters.Radius, 0f, 0f)),
                Matrix4x4.CreateRotationX((float)parameters.Alpha)
            );

            // Calculate the transform with T=Z.X
            Transform = Matrix4x4.Multiply(Z, X);
        }
    }