/// <summary>
/// Creates a new <c>JointValues</c> instance that contains only values for joints of the given <c>JointSet</c>.
/// The <paramref name="subset"/> parameter defines the new order of the joints in the resulting <c>JointValues</c> object.
/// </summary>
/// <param name="subset">A <c>JointSet</c> with a subset of the joints.</param>
/// <returns>A new instance of <c>JointValues</c>.</returns>
/// <exception cref="ArgumentException">Thrown when the given <paramref name="subset"/> is not a subset of the names the <c>JointSet</c>.</exception>
public JointValues Select(JointSet subset)
{
if (!subset.IsSubset(this.JointSet))
{
throw new ArgumentException("The given joint set needs to be a subset of the current joint set.", nameof(subset));
}
return(new JointValues(subset, subset.Select(x => this[x])));
}
/// <summary>
/// Updates the joint values of the given joint set. Values which are not in the given joint set are not changed.
/// </summary>
/// <param name="jointSet">The set of joints whose values should be changed.</param>
/// <param name="values">The new values for the given joint set.</param>
/// <returns>A new instance of <c>JointValues</c>.</returns>
/// <exception cref="ArgumentException">Thrown when the given <paramref name="jointSet"/> is not a subset of the names the <c>JointSet</c>.</exception>
/// <exception cref="ArgumentException">Thrown when the number of elements in the <paramref name="values"/> list does not match the number of joints in the <paramref name="jointSet"/> argument.</exception>
public JointValues SetValues(JointSet jointSet, IReadOnlyList <double> values)
{
if (!jointSet.IsSubset(this.JointSet))
{
throw new ArgumentException("The given joint set needs to be a subset of the current joint set.", nameof(jointSet));
}
if (jointSet.Count != values.Count)
{
throw new ArgumentException("Number of elements in values list does not match number of joints in joint set.", nameof(values));
}
double[] newValues = this.ToArray();
for (var i = 0; i < values.Count; i++)
{
string jointName = jointSet[i];
int index = this.JointSet.GetIndexOf(jointName);
newValues[index] = values[i];
}
return(new JointValues(this.JointSet, newValues));
}
