private void InitNew()
{
var methods = _instance.GetType().GetMethods(BindingFlags.NonPublic | BindingFlags.Instance).Where((x) => x.Name.StartsWith("_"));
_reflectionCache.Add(typeof(T), methods);
_enumCache.Add(typeof(T), Enum.GetValues(typeof(T)));
foreach (var state in _enumCache[typeof(T)])
{
var stateMethods = methods.Where((x) => x.Name.Contains(state.ToString()));
var stateFunctions = new StateFunctions();
foreach (var method in stateMethods)
{
var name = method.Name;
if (name.EndsWith("_Enter"))
{
stateFunctions.Enter = method;
}
else if (name.EndsWith("_Update"))
{
stateFunctions.Update = method;
}
else if (name.EndsWith("_Exit"))
{
stateFunctions.Exit = method;
}
}
_stateFunctionLookup[(T)state] = stateFunctions;
}
}
private void InitCached()
{
var methods = _reflectionCache[typeof(T)];
foreach (var state in _enumCache[typeof(T)])
{
var stateMethods = methods.Where((x) => x.Name.Contains(state.ToString()));
var stateFunctions = new StateFunctions();
foreach (var method in stateMethods)
{
var name = method.Name;
if (name.EndsWith("_Enter"))
{
stateFunctions.Enter = method;
}
else if (name.EndsWith("_Update"))
{
stateFunctions.Update = method;
}
else if (name.EndsWith("_Exit"))
{
stateFunctions.Exit = method;
}
}
_stateFunctionLookup[(T)state] = stateFunctions;
}
}
//public IAdaptiveQ AdaptiveQ { get; set; }
//public IAdaptiveR AdaptiveR { get; set; }
//public int Size { get { return Q.ColumnCount; } }
public DiscreteInnerWrapper(double[] measurementnoise, double[] processnoise)
{
KalmanFilter = DiscreteFactory.Build(processnoise.Length);
R = MatrixBuilder.Instance.Builder.Diagonal(measurementnoise).Map(_ => Math.Pow(_, 2)); //covariance of measurement
Q = MatrixBuilder.Instance.Builder.Diagonal(processnoise).Map(_ => Math.Pow(_, 2)); //covariance of process
//AdaptiveQ = new DefaultAdaptiveQ(q);
//AdaptiveR = new DefaultAdaptiveR(r);
F = StateFunctions.BuildTransition(processnoise.Length);
G = MatrixBuilder.Instance.Builder.Diagonal(processnoise.Length, processnoise.Length, 1); //covariance of process
H = StateFunctions.BuildMeasurement(processnoise.Length, measurementnoise.Length);
}
/// <summary>
/// フォームを読み込む
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MainForm_Load(object sender, EventArgs e)
{
state = new StateFunctions(this);
}
