public void Simulate(double interval)
{
partialTimeStepInterval += interval;
List<PointD> list = PredictNextPositions(1);
if (partialTimeStepInterval > 1)
{
partialTimeStepInterval -= 1;
if (list != null)
{
AddNewPosition(list[0]);
Train();
position = list[0];
}
}
else
{
List<PointD> prev = GetPreviousPositions();
if ((prev != null) && (list != null))
{
PointD last = prev[prev.Count - 1];
position.X = last.X * (1 - partialTimeStepInterval) + list[0].X * partialTimeStepInterval;
position.Y = last.Y * (1 - partialTimeStepInterval) + list[0].Y * partialTimeStepInterval;
}
}
}
public FinishState(PointD position, double angle)
{
this.position = new PointD(0, 0);
this.orientation = new PointD(1, 0);
this.Position = position;
this.Angle = angle;
}
public FinishState(PointD position, PointD orientation)
{
this.position = new PointD(0, 0);
this.orientation = new PointD(1, 0);
this.Position = position;
this.Orientation = orientation;
}
public FinishState(double[] arg)
{
this.position = new PointD(0, 0);
this.orientation = new PointD(1, 0);
this.Position = new PointD(arg[0], arg[1]);
this.Orientation = new PointD(arg[2], arg[3]);
}
public void SetPosition(PointD point)
{
positionPredictor = null;
this.position = point;
}
public void AddNewPosition(PointD point)
{
this.position = point;
if (positionPredictor == null) positionPredictor = new PositionPredictor(45, 10);
positionPredictor.AddPoint(point);
}
public PredictablePosition(PointD point)
{
this.position = point;
partialTimeStepInterval = 0;
}
public PredictablePosition()
{
this.position = new PointD(0,0);
partialTimeStepInterval = 0;
}
public ObstacleState(PointD position, double radius)
{
pp = new PredictablePosition(position);
this.radius = radius;
}
public ObstacleState(PointD position, double radius)
{
pp = new PredictablePosition(position);
this.radius = radius;
}
public FinishModel(PointD position, double angle)
{
state = new FinishState(position, angle);
finish = NavigationSimulator.Properties.Resources.finish;
}
public ObstacleModel(PointD position, double radius)
{
state = new ObstacleState(position, radius);
}
