/// <summary>
/// Initializes a new instance of the <see cref="WalkingTrail"/> class. For Internal Use ONLY!
/// </summary>
/// <param name="observedPoints">The observed locations.</param>
/// <param name="velocityMagnitude">The velocity magnitude.</param>
internal WalkingTrail(UV[] observedPoints, double velocityMagnitude)
{
this._length = new double[observedPoints.Length];
this._trailLength = 0;
this._length[0] = 0;
for (int i = 0; i < observedPoints.Length - 1; i++)
{
double d = observedPoints[i].DistanceTo(observedPoints[i + 1]);
this._length[i + 1] = this._length[i] + d;
}
this._trailLength = this._length[this._length.Length - 1];
double[] observation_time = new double[this._length.Length];
observation_time[0] = 0;
for (int i = 0; i < observedPoints.Length - 1; i++)
{
double deltaT = observedPoints[i].DistanceTo(observedPoints[i + 1]) / velocityMagnitude;
observation_time[i + 1] = observation_time[i] + deltaT;
}
this._trailInput = TrailInput.Location;
this._observationTime = observation_time;
this._startTime = _observationTime[0];
this._endTime = _observationTime[_observationTime.Length - 1];
this._duration = _observationTime[_observationTime.Length - 1] - _observationTime[0];
this._timeToLength = Interpolate.CubicSplineRobust(this._observationTime, this._length);
this._lengthToTime = Interpolate.CubicSplineRobust(this._length, this._observationTime);
//create interpolations
double[] location_U_values = new double[this._observationTime.Length];
double[] location_V_values = new double[this._observationTime.Length];
for (int i = 0; i < this._observationTime.Length; i++)
{
location_U_values[i] = observedPoints[i].U;
location_V_values[i] = observedPoints[i].V;
}
this._interpolate_location_U = Interpolate.CubicSplineRobust(this._observationTime, location_U_values);
this._ULinearInterpolation = Interpolate.Linear(this._observationTime, location_U_values);
this._interpolate_location_V = Interpolate.CubicSplineRobust(this._observationTime, location_V_values);
this._VLinearInterpolation = Interpolate.Linear(this._observationTime, location_V_values);
this._observedStates = new StateBase[this._observationTime.Length];
//this._controlPoints = new UV[this._time.Length];
for (int i = 0; i < this._observedStates.Length; i++)
{
UV location = observedPoints[i];
UV velocity = this.getVelocity(this._observationTime[i]);
UV direction = this.getDirection(this._observationTime[i]);
//this._controlPoints[i] = location;
this._observedStates[i] = new StateBase(location, direction, velocity);
}
this.loadNormalizedStates();
loadApproximatedPolyline();
}
/// <summary>
/// Initializes a new instance of the <see cref="WalkingTrail"/> class.
/// </summary>
/// <param name="observation_time">The observation time.</param>
/// <param name="observed_states">The observed states.</param>
/// <param name="inputMode">The input mode.</param>
/// <exception cref="ArgumentException">
/// The size of observation time and observed states are not equal
/// or
/// The observation times are not in ascending order!
/// or
/// The observed states include null elements that cannot be used for generating a trail model
/// or
/// The observed states include null elements that cannot be used for generating a trail model
/// or
/// The observed states include null locations that cannot be used for generating a trail model
/// </exception>
public WalkingTrail(double[] observation_time, StateBase[] observed_states, TrailInput inputMode)
{
if (observation_time.Length != observed_states.Length)
{
throw new ArgumentException("The size of observation time and observed states are not equal");
}
for (int i = 0; i < observation_time.Length - 1; i++)
{
if (observation_time[i] >= observation_time[i + 1])
{
throw new ArgumentException("The observation times are not in ascending order!");
}
}
for (int i = 0; i < observed_states.Length; i++)
{
switch (inputMode)
{
case TrailInput.Location_Velocity_Direction:
if (observed_states[i].Velocity == null || observed_states[i].Direction == null || observed_states[i].Location == null)
{
throw new ArgumentException("The observed states include null elements that cannot be used for generating a trail model");
}
break;
case TrailInput.Location_Direction:
if (observed_states[i].Direction == null || observed_states[i].Location == null)
{
throw new ArgumentException("The observed states include null elements that cannot be used for generating a trail model");
}
break;
case TrailInput.Location:
if (observed_states[i].Location == null)
{
throw new ArgumentException("The observed states include null locations that cannot be used for generating a trail model");
}
break;
}
}
this._trailInput = inputMode;
this._observationTime = observation_time;
this._startTime = _observationTime[0];
this._endTime = _observationTime[_observationTime.Length - 1];
this._duration = _observationTime[_observationTime.Length - 1] - _observationTime[0];
this._length = new double[observation_time.Length];
this._length[0] = 0;
for (int i = 0; i < observed_states.Length - 1; i++)
{
double d = observed_states[i].Location.DistanceTo(observed_states[i + 1].Location);
this._length[i + 1] = this._length[i] + d;
}
this._trailLength = this._length[this._length.Length - 1];
this._timeToLength = Interpolate.CubicSplineRobust(this._observationTime, this._length);
this._lengthToTime = Interpolate.CubicSplineRobust(this._length, this._observationTime);
//create interpolations
double[] location_U_values = new double[this._observationTime.Length];
double[] location_V_values = new double[this._observationTime.Length];
for (int i = 0; i < this._observationTime.Length; i++)
{
location_U_values[i] = observed_states[i].Location.U;
location_V_values[i] = observed_states[i].Location.V;
}
this._interpolate_location_U = Interpolate.CubicSplineRobust(this._observationTime, location_U_values);
this._ULinearInterpolation = Interpolate.Linear(this._observationTime, location_U_values);
this._interpolate_location_V = Interpolate.CubicSplineRobust(this._observationTime, location_V_values);
this._VLinearInterpolation = Interpolate.Linear(this._observationTime, location_V_values);
double[] velocity_U_values;
double[] velocity_V_values;
double[] direction_U_values;
double[] direction_V_values;
switch (this._trailInput)
{
case TrailInput.Location_Velocity_Direction:
velocity_U_values = new double[this._observationTime.Length];
velocity_V_values = new double[this._observationTime.Length];
direction_U_values = new double[this._observationTime.Length];
direction_V_values = new double[this._observationTime.Length];
for (int i = 0; i < this._observationTime.Length; i++)
{
velocity_U_values[i] = observed_states[i].Velocity.U;
velocity_V_values[i] = observed_states[i].Velocity.V;
observed_states[i].Direction.Unitize();
direction_U_values[i] = observed_states[i].Direction.U;
direction_V_values[i] = observed_states[i].Direction.V;
}
this._interpolate_velocity_U = Interpolate.CubicSplineRobust(this._observationTime, velocity_U_values);
this._interpolate_velocity_V = Interpolate.CubicSplineRobust(this._observationTime, velocity_V_values);
this._interpolate_direction_U = Interpolate.CubicSplineRobust(this._observationTime, direction_U_values);
this._interpolate_direction_V = Interpolate.CubicSplineRobust(this._observationTime, direction_V_values);
break;
case TrailInput.Location_Direction:
direction_U_values = new double[this._observationTime.Length];
direction_V_values = new double[this._observationTime.Length];
for (int i = 0; i < this._observationTime.Length; i++)
{
observed_states[i].Direction.Unitize();
direction_U_values[i] = observed_states[i].Direction.U;
direction_V_values[i] = observed_states[i].Direction.V;
}
this._interpolate_direction_U = Interpolate.CubicSplineRobust(this._observationTime, direction_U_values);
this._interpolate_direction_V = Interpolate.CubicSplineRobust(this._observationTime, direction_V_values);
break;
case TrailInput.Location:
//do nothing
break;
}
this._observedStates = new StateBase[this._observationTime.Length];
//this._controlPoints = new UV[this._time.Length];
for (int i = 0; i < this._observedStates.Length; i++)
{
UV location = observed_states[i].Location;
//this._controlPoints[i] = location;
UV velocity = null;
if (observed_states[i].Velocity == null)
{
velocity = this.getVelocity(this._observationTime[i]);
}
else
{
velocity = observed_states[i].Velocity;
}
UV direction = null;
if (observed_states[i].Direction == null)
{
direction = this.getDirection(this._observationTime[i]);
}
else
{
direction = observed_states[i].Direction;
}
this._observedStates[i] = new StateBase(location, direction, velocity);
}
this.loadNormalizedStates();
loadApproximatedPolyline();
}
