/// <summary>
/// Input manager that includes a single VIVE Tracker as sensor and a linear kinematic synergy as reference generator.
/// </summary>
/// <param name="sensorManager">The VIVE Tracker object to be used as sensor.</param>
/// <param name="xBar">The initial condition for the references.</param>
/// <param name="xMin">The lower limits for the references.</param>
/// <param name="xMax">The upper limits for the references.</param>
public KinematicVIVEInputManager(VIVETrackerManager sensorManager, float[] xBar, float[] xMin, float[] xMax, float[] theta, float[] thetaMin, float[] thetaMax)
{
if (sensorManager == null)
{
throw new System.ArgumentNullException("The provided sensor manager is empty.");
}
this.sensorManager = sensorManager;
// Create a custom KSRG
referenceGenerator = new LinearKinematicSynergy(xBar, xMin, xMax, theta, thetaMin, thetaMax);
}
/// <summary>
/// Sets the synergy value for a linear kinematic synergy type reference generator.
/// </summary>
/// <param name="channel">The channel number.</param>
/// <param name="theta">The new synergy value.</param>
private void SetLinKinSynergy(int channel, float theta)
{
// Check that the active reference generator is of the right type
if (GetActiveReferenceGeneratorType() == ReferenceGeneratorType.LinearKinematicSynergy)
{
// Type cast to be able to access the right method
LinearKinematicSynergy typeCastActiveGenerator = (LinearKinematicSynergy)activeGenerator;
typeCastActiveGenerator.UpdateParameter(channel, theta);
}
else
{
throw new System.ArgumentException("Invalid value reference generator. Active RG type: " + GetActiveReferenceGeneratorType());
}
}
/// <summary>
/// Input manager that includes a single VIVE Tracker as sensor and a linear kinematic synergy as reference generator.
/// </summary>
/// <param name="sensorManager">The VIVE Tracker object to be used as sensor.</param>
public KinematicVIVEInputManager(VIVETrackerManager sensorManager)
{
if (sensorManager == null)
{
throw new System.ArgumentNullException("The provided sensor manager is empty.");
}
this.sensorManager = sensorManager;
// Create a single DOF KSRG
float[] xBar = { 0.0f };
float[] xMin = { -5.0f };
float[] xMax = { 145.0f };
float[] theta = { 1.0f };
float[] thetaMin = { 0.8f };
float[] thetaMax = { 2.4f };
referenceGenerator = new LinearKinematicSynergy(xBar, xMin, xMax, theta, thetaMin, thetaMax);
}
