/// <summary>
/// Reset system state
/// </summary>
/// <param name="xCoordAngle">New pendulum angle in X-coordinate</param>
/// <param name="yCoordAngle">New pendulum angle in Y-coordinate</param>
/// <param name="xCoordPosition">New cart position in X-coordinate</param>
/// <param name="yCoordPosition">New cart position in Y-coordinate</param>
public void Reset(double xCoordAngle = 0.0, double yCoordAngle = 0.0, double xCoordPosition = 0.0, double yCoordPosition = 0.0)
{
StateX = new OneDimensionalSystemState();
StateX.Angle = xCoordAngle;
StateX.Position = xCoordPosition;
StateY = new OneDimensionalSystemState();
StateY.Angle = yCoordAngle;
StateY.Position = yCoordPosition;
ResetTimer();
}
/// <summary>
/// Update Y-coordinate subsystem state
/// </summary>
/// <param name="xState">New subsystem state</param>
public void UpdateSystemStateY(OneDimensionalSystemState yState)
{
LastStateY = StateY;
StateY = yState;
}
/// <summary>
/// Update X-coordinate subsystem state
/// </summary>
/// <param name="xState">New subsystem state</param>
public void UpdateSystemStateX(OneDimensionalSystemState xState)
{
LastStateX = StateX;
StateX = xState;
}