public override string ToString()
{
StringBuilder builder = new StringBuilder();
builder.Append("<P,");
builder.Append(this.PoseId);
int numberOfJoints = Joints.Max(j => j.ServoId) + 1;
for (int i = 0; i < numberOfJoints; i++)
{
var joint = this.Joints.Where(j => j.ServoId == i).FirstOrDefault();
if (joint == null)
{
builder.Append(",-1,0");
}
else
{
builder.AppendFormat(",{0:F4},{1}", joint.Angle, joint.Duration);
}
}
builder.Append(">");
return(builder.ToString());
}