public void Spline()
{
int n = 6;
// Create the data to be fitted
float[] x = new float[n];
float[] y = new float[n];
var rand = new Random(1);
for (int i = 0; i < n; i++)
{
x[i] = i;
y[i] = (float)rand.NextDouble() * 10;
}
// Compute the x values at which we will evaluate the spline.
// Upsample the original data by a const factor.
int upsampleFactor = 10;
int nInterpolated = n * upsampleFactor;
float[] xs = new float[nInterpolated];
for (int i = 0; i < nInterpolated; i++)
{
xs[i] = (float)i * (n - 1) / (float)(nInterpolated - 1);
}
float[] ys = CubicSpline.Compute(x, y, xs, 0.0f, Single.NaN, true);
Assert.True(xs.Length == 60 && ys.Length == 60);
}
bool UpdateSpline()
{
int n_knot = m_knots.Length;
if (n_knot > 3)
{
float[] i_knot = new float[n_knot];
float[] x_knot = new float[n_knot];
float[] y_knot = new float[n_knot];
float[] z_knot = new float[n_knot];
m_pknotsM = new Vector3[n_knot];
for (int i = 0; i < n_knot; i++)
{
m_pknotsM[i] = m_knots[i].transform.position;
i_knot[i] = i;
x_knot[i] = m_pknotsM[i].x;
y_knot[i] = m_pknotsM[i].y;
z_knot[i] = m_pknotsM[i].z;
}
float[] i_ierps = new float[m_nIerps];
float ierp_step = (float)(n_knot - 1) / (float)(m_nIerps - 1);
i_ierps[0] = 0;
for (int i = 1; i < m_nIerps; i++)
{
i_ierps[i] = i_ierps[i - 1] + ierp_step;
}
float[] x_ierps = CubicSpline.Compute(i_knot, x_knot, i_ierps);
float[] y_ierps = CubicSpline.Compute(i_knot, y_knot, i_ierps);
float[] z_ierps = CubicSpline.Compute(i_knot, z_knot, i_ierps);
m_pIerps = new Vector3[m_nIerps];
for (int i = 0; i < m_nIerps; i++)
{
m_pIerps[i].x = x_ierps[i];
m_pIerps[i].y = y_ierps[i];
m_pIerps[i].z = z_ierps[i];
}
return(true);
}
else
{
return(false);
}
}
public static int GetPitchTime(MainForm mainForm,
string droneName,
int power,
double meter)
{
CalibrationInfo cInfo = CalibrationList.GetCalibrationData(mainForm, droneName);
MoveCalibrationInfo mcInfo = cInfo.GetMoveInfo(power);
if (mcInfo == null)
{
mainForm.ShowMessageBox("Power " + power + " data doesn't exist.");
return(-1);
}
float[] times = Array.ConvertAll(mcInfo.GetTimes(), x => (float)x); // x
float[] meters = new float[times.Length]; // y
for (int i = 0; i < meters.Length; i++)
{
if (power > 0)
{
meters[i] = (float)mcInfo.GetFrontMeter((int)times[i]);
}
else
{
meters[i] = (float)mcInfo.GetBackMeter((int)times[i]);
}
}
if (meters.Min() > meter || meters.Max() < meter)
{
mainForm.ShowMessageBox("Meter " + meter + " is out of data range.");
return(-1);
}
float[] timeResult = CubicSpline.Compute(meters, times, new float[] { (float)meter });
return((int)timeResult[0]);
}