/// <summary>
/// データを追加
/// </summary>
/// <param name="state">NXT State</param>
public void AppendData(NxtState state)
{
// 全ての系列に対してデータを追加
foreach (string name in NxtState.NxtStateDataMember)
{
Point p = state.GetTimeSeriesData(name);
// データポイントを生成
DataPoint point = new DataPoint(p.X, p.Y);
// 系列名からデータを追加する系列を取得
Series s = stateSeriesList.Find(o => o.Name == name);
// データを追加
s.Points.Add(point);
}
}
/// <summary>
/// Constructor
/// </summary>
public NxtStateManager(Point startPos, double startDirection)
{
this.startPos = startPos;
this.startDirection = startDirection;
// NXT Stateを初期化
state = new NxtState(startPos, startDirection);
// ログリストを生成
stateLogList = new List <NxtState>();
// 初期値をリストに追加
stateLogList.Add((NxtState)state.Clone());
stateTextBuilder = new StringBuilder();
stateTextBuilder.AppendFormat(" RunTime, MoveDist, MoveSpd, Direction, TurnAngle, Posture, TailAngle, Position.X, Position.Y\r\n");
}
/// <summary>
/// Cloneを返す
/// </summary>
/// <returns>Clone</returns>
public object Clone()
{
NxtState clone = new NxtState(this.StartPosition, this.startDirection);
clone.RunTime = this.RunTime;
clone.MomentRunTime = this.MomentRunTime;
clone.Distance = this.Distance;
clone.MomentDistance = this.MomentDistance;
clone.AverageSpd = this.AverageSpd;
clone.MomentAverageSpd = this.MomentAverageSpd;
clone.Posture = this.Posture;
clone.TailAngle = this.TailAngle;
clone.TailTurnAngle = this.TailTurnAngle;
clone.MomentTailTurnAngle = this.MomentTailTurnAngle;
clone.Direction = this.Direction;
clone.TurnAngle = this.TurnAngle;
clone.MotorSpd = this.MotorSpd;
clone.Position = this.Position;
return(clone);
}
/// <summary>
/// ログリストのデータをクリア
/// </summary>
public void ClearList()
{
stateLogList.Clear();
this.state = new NxtState(this.startPos, this.startDirection);
}