private IJointFrameParameter GetJointFrameParameter(MovingJoint joint, DateTime timeStamp)
{
// RBakerFlag -> For now, default to this.
TimeSpan timeSpan = GetTimeSpanSinceLastCapture(timeStamp);
// AngularVelocityJointFrameParameter parameter = new AngularVelocityJointFrameParameter(joint, timeSpan);
AngularDisplacementJointFrameParameter parameter = new AngularDisplacementJointFrameParameter(joint, previousMovingJoint, timeSpan);
return(parameter);
}
private void jointController_JointTrackingCaptured(MovingJoint joint, DateTime timeStamp)
{
if (frameCount % framesFrequencyFilter == 0)
{
frameCount = 1;
AlertJoints(joint, timeStamp);
}
else
{
frameCount += 1;
}
}
private void AlertJoints(MovingJoint joint, DateTime timeStamp)
{
IJointFrameParameter parameter = GetJointFrameParameter(joint, timeStamp);
previousMovingJoint = joint;
previousTimeStamp = timeStamp;
Joints jointsToAlert = joints.GetJointsOfType(joint.JointType);
foreach (Joint jointToAlert in jointsToAlert)
{
jointToAlert.JointTrackingFrameCaptured(parameter);
}
}
public void UpdateJointBendAngle(MovingJoint joint, DateTime timeStamp)
{
if (this.InvokeRequired)
{
UpdateBendAngleEventHandler d = new UpdateBendAngleEventHandler(UpdateJointBendAngle);
this.Invoke(d, new object[] { joint, timeStamp });
}
else
{
//jointTrackingUpdateTextBox.BeginUpdate();
jointTrackingUpdateTextBox.Text = joint.BendAngle.ToString();
//jointTrackingUpdateTextBox.EndUpdate();
}
}
public AngularDisplacementJointFrameParameter(MovingJoint thisMovingJoint, MovingJoint previousMovingJoint, TimeSpan timeSpan)
{
this.movingJoint = thisMovingJoint;
this.timeSpan = timeSpan;
this.bendAngle = previousMovingJoint == null ? thisMovingJoint.BendAngle : thisMovingJoint.BendAngle - previousMovingJoint.BendAngle;
}
public AngularVelocityJointFrameParameter(MovingJoint movingJoint, TimeSpan timeSpan)
{
this.movingJoint = movingJoint;
this.timeSpan = timeSpan;
}
