private void fillCoords(ref coord[] _coords, KSSJoint _joint, string nodename, XmlNode node)
{
_coords[(int)_joint].x = (float)XmlConvert.ToDecimal(node[nodename]["x"].InnerText);
_coords[(int)_joint].y = (float)XmlConvert.ToDecimal(node[nodename]["y"].InnerText);
_coords[(int)_joint].theta = (float)XmlConvert.ToDecimal(node[nodename]["theta"].InnerText);
}
private XmlElement PoseElement(string _name, KSSJoint _joint, XmlDocument _xmlDoc)
{
XmlText x;
XmlText y;
XmlText theta;
XmlElement element = _xmlDoc.CreateElement(_name);
XmlElement X = _xmlDoc.CreateElement("x");
XmlElement Y = _xmlDoc.CreateElement("y");
XmlElement Theta = _xmlDoc.CreateElement("theta");
x = _xmlDoc.CreateTextNode(player[(int)_joint].x.ToString());
y = _xmlDoc.CreateTextNode(player[(int)_joint].y.ToString());
theta = _xmlDoc.CreateTextNode(player[(int)_joint].theta.ToString());
X.AppendChild(x);
Y.AppendChild(y);
Theta.AppendChild(theta);
element.AppendChild(X);
element.AppendChild(Y);
element.AppendChild(Theta);
return element;
}
private LineGeometry getLine(KSSJoint _start, KSSJoint _end, coord[] _pose)
{
return new LineGeometry(new Point(_pose[(int)_start].x, _pose[(int)_start].y), new Point(_pose[(int)_end].x, _pose[(int)_end].y));
}
private float CalculateTheta(float _x, float _y, KSSJoint _joint, ref coord[] _coords)
{
float theta;
theta = (float)Math.Atan2((double)(_y - _coords[(int)_joint].y), (double)(_coords[(int)_joint].x - _x));
return theta;
}
