/// <summary>
/// Creates frame
/// </summary>
protected virtual void CreateFrame()
{
if (IsAcceleration)
{
relative = new Motion6DAcceleratedFrame();
owp = new Motion6DAcceleratedFrame();
}
else if (IsVelocity & IsAngularVelocity)
{
relative = new Motion6DFrame();
owp = new Motion6DFrame();
}
else if (IsAngularVelocity)
{
relative = new RotatedFrame();
owp = new RotatedFrame();
}
else if (IsVelocity)
{
relative = new MovedFrame();
owp = new MovedFrame();
}
else
{
relative = new ReferenceFrame();
owp = new ReferenceFrame();
}
}
/// <summary>
/// Creates frame
/// </summary>
protected override void CreateFrame()
{
int order = 2;
for (int i = 0; i < measurements.Length; i++)
{
IMeasurement m = measurements[i];
int n = m.GetDerivativeOrder();
if (n < order)
{
order = n;
}
}
if (order == 2)
{
base.CreateFrame();
secondDeriM = new IMeasurement[7];
for (int i = 0; i < secondDeriM.Length; i++)
{
secondDeriM[i] = measurements[i].GetHigherDerivative(2);
}
return;
}
secondDeriM = null;
bool velocity = IsVelocity; // Velocity support
bool angularVelocty = IsAngularVelocity; // Angular velocity support
if (velocity & angularVelocty) // If both velocity and angular velocity are supported
{
// Motion6DFrame implements both IVelocity and IAngularVelocity
Relative = new Motion6DFrame(); // Relative reference frame
owp = new Motion6DFrame(); // Own reference frame
}
else if (angularVelocty) // If angular velocity is supported
{
// RotatedFrame implements IAngularVelocity
Relative = new RotatedFrame(); // Relative reference frame
owp = new RotatedFrame(); // Own reference frame
}
else if (velocity) // If velocity is supported
{
// MovedFrame implements IVelocity
Relative = new MovedFrame();
owp = new MovedFrame();
}
else
{
Relative = new ReferenceFrame(); // Relative reference frame
owp = new ReferenceFrame(); // Own reference frame
}
}