private void ComputeAngularAccelerations(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 4)
{
PadAngularAccelerations(kinematics);
return;
}
for (int i = 2; i < kinematics.Length - 2; i++)
{
double d1 = GetDisplacementAngle(kinematics, i - 1, i - 2);
double d2 = GetDisplacementAngle(kinematics, i, i - 1);
double d3 = GetDisplacementAngle(kinematics, i + 1, i);
double d4 = GetDisplacementAngle(kinematics, i + 2, i + 1);
float t02 = calibrationHelper.GetTime(2);
float t24 = calibrationHelper.GetTime(2);
float t13 = calibrationHelper.GetTime(2);
float v1 = (float)((d1 + d2) / t02);
float v2 = (float)((d3 + d4) / t24);
float a = (float)((v2 - v1) / t13);
kinematics.AngularAcceleration[i] = calibrationHelper.ConvertAngularAcceleration(a);
}
PadAngularAccelerations(kinematics);
}
private void ComputeAcceleration(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper)
{
if (tsc.Length <= 2)
{
PadAccelerations(tsc);
return;
}
for (int i = 1; i < tsc.Length - 1; i++)
{
float v1 = velocities[i - 1];
float v2 = velocities[i + 1];
float t = calibrationHelper.GetTime(2);
float alpha = (v2 - v1) / t;
tsc[Kinematics.AngularAcceleration][i] = (double)calibrationHelper.ConvertAngularAcceleration(alpha);
float at = radii[i] * alpha;
tsc[Kinematics.TangentialAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(at);
float ac = radii[i] * velocities[i] * velocities[i];
tsc[Kinematics.CentripetalAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(ac);
float a = (float)Math.Sqrt(at * at + ac * ac);
tsc[Kinematics.ResultantLinearAcceleration][i] = (double)calibrationHelper.ConvertAcceleration(a);
}
PadAccelerations(tsc);
}
