private void UpdateOptiTrackUI(object sender, OptiTrack.FrameReceivedEventArgs args)
{
positionChart.Update(args.BallPosition.ToArray());
Dispatcher.Invoke(() => {
actualPositionX.Text = args.BallPosition[0].ToString("F3");
actualPositionY.Text = args.BallPosition[1].ToString("F3");
actualPositionZ.Text = args.BallPosition[2].ToString("F3");
});
}
private void UpdateRobot2UI(object sender, OptiTrack.FrameReceivedEventArgs args)
{
var robot2BasePosition = robot2Transformation.Convert(args.BallPosition);
robot2PositionChart.Update(new double[] {
robot2BasePosition[0], robot2BasePosition[1], robot2BasePosition[2]
});
Dispatcher.Invoke(() => {
robot2BaseActualPositionX.Text = robot2BasePosition[0].ToString("F3");
robot2BaseActualPositionY.Text = robot2BasePosition[1].ToString("F3");
robot2BaseActualPositionZ.Text = robot2BasePosition[2].ToString("F3");
});
}
private void ProcessFrame(FrameOfMocapData data, NatNetClientML client)
{
double frameDeltaTime = data.fTimestamp - frameTimestamp;
frameTimestamp = data.fTimestamp;
var receivedFrame = new InputFrame(data, frameDeltaTime);
var args = new FrameReceivedEventArgs {
ReceivedFrame = receivedFrame,
PrevBallPosition = ballPosition
};
ballPosition = receivedFrame.BallPosition;
FrameReceived?.Invoke(this, args);
}
