/// <summary> 加速度の変化量 </summary>
private void GetDeltaAccList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
double v0 = 0;
double a0 = 0;
for (int i = 1; i < timeTable.Count; i++)
{
float[] joint = jointsList[i];
int t = timeTable[i] - timeTable[i - 1];
double v = Caliculater.GetVelocity(joint, JointType, p0, t);
double a = (v - v0) / t;
double delA = (a - a0) / t;
if (i < 3)
{
delA = 0;
}
if (timeTable[i] > 19500)
{
delA = 0;
}
UpdateMaxMin(delA);
v0 = v;
a0 = a;
datapointList[i] = new DataPoint(timeTable[i], delA);
}
UpdateView();
}
/// <summary> 速度 </summary>
private void GetVelocityList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
datapointList[0] = new DataPoint(timeTable[0], 0);
for (int i = 1; i < timeTable.Count; i++)
{
var joint = jointsList[i];
double velocity = Caliculater.GetVelocity(joint, JointType, p0, (timeTable[i] - timeTable[i - 1]));
if (i < 10)
{
velocity = 0;
}
UpdateMaxMin(velocity);
datapointList[i] = new DataPoint(timeTable[i], velocity);
p0 = new float[] { joint[JointType], joint[JointType + 1], joint[JointType + 2] };
}
UpdateView();
}
/// <summary> 加速度 </summary>
private void GetAccelerationList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
double v0 = 0;
datapointList[0] = new DataPoint(timeTable[0], 0);
for (int i = 1; i < timeTable.Count; i++)
{
float[] joint = jointsList[i];
int t = timeTable[i] - timeTable[i - 1];
double v = Caliculater.GetVelocity(joint, JointType, p0, t);
double a = (v - v0) / t;
if (i < 3)
{
a = 0;
}
UpdateMaxMin(a);
datapointList[i] = new DataPoint(timeTable[i], a);
p0 = new float[] { joint[JointType], joint[JointType + 1], joint[JointType + 2] };
v0 = v;
}
UpdateView();
}