public static void CalculateSubObservePosition1(TextBox subHeadingText, TextBox odometer1Text, TextBox odometer2Text, ref TextBox observePosition1Text)
{
if (string.IsNullOrEmpty(subHeadingText.Text) || string.IsNullOrEmpty(odometer1Text.Text) || string.IsNullOrEmpty(odometer2Text.Text))
{
return;
}
double subHeading, odometer1, odometer2;
try
{
subHeading = Convert.ToDouble(subHeadingText.Text);
odometer1 = Convert.ToDouble(odometer1Text.Text);
odometer2 = Convert.ToDouble(odometer2Text.Text);
}
catch
{
MessageBox.Show("invalid number: " + subHeadingText.Text + ", " + odometer1Text.Text + ", " + odometer2Text.Text);
return;
}
var reverseDirection = subHeading - 180;
reverseDirection = DirectionOperation.CorrectDirection(reverseDirection);
var reverseLine = CoordinateSystemOperation.CalculateLineFromPointAndDirection(new PointModel(0, 0), reverseDirection);
var observePos1 = CoordinateSystemOperation.CalculatePointByLineAndLength(reverseLine, new PointModel(0, 0), Math.Abs(odometer2 - odometer1), reverseLine.lineDirection);
observePosition1Text.Text = observePos1.ToString();
}
public static LineModel CalculateRandomTargetLineByRotate(LineModel directionLine1, LineModel directionLine2, LineModel directionLine3)
{
var randomLength = 3000;
var randomPoint = CalculatePointByLineAndLength(directionLine2, new PointModel(0, 0), randomLength, directionLine2.lineDirection);
var startDirection = CalculateDirectionFromLine(directionLine2);
var increaseDirectionStep = 0.01;
double increaseDirection = 0;
var idealLengthDiff = 0.01;
LineModel result = null;
double minimumLengthDiff = 99999999999;
while (true)
{
increaseDirection = increaseDirection + increaseDirectionStep;
if (increaseDirection >= 180)
{
break;
}
if (minimumLengthDiff <= idealLengthDiff)
{
break;
}
var candidateHeading = startDirection + increaseDirection;
candidateHeading = DirectionOperation.CorrectDirection(candidateHeading);
var candidateLine = CalculateLineFromPointAndDirection(randomPoint, candidateHeading);
var interceptPoint1 = CalculatePointByTwoLines(candidateLine, directionLine1);
var interceptPoint3 = CalculatePointByTwoLines(candidateLine, directionLine3);
var length1 = CalculateLengthBetweenPoints(interceptPoint1, randomPoint);
var length2 = CalculateLengthBetweenPoints(interceptPoint3, randomPoint);
var lengthDiff = Math.Abs(length1 - length2);
//verify
var intercept2 = CalculatePointByTwoLines(candidateLine, directionLine2);
if (intercept2.x < -1000000 || intercept2.x > 1000000)
{
continue;
}
if (lengthDiff == 0)
{
continue;
}
if (lengthDiff < minimumLengthDiff)
{
result = candidateLine;
minimumLengthDiff = lengthDiff;
}
}
return(result);
}
public static void CalculateSpeed(TextBox targetLengthText, TextBox targetHeadingText, TextBox subHeadingText, TextBox targetPassCenterTimeText, TextBox targetPassCenterDicretionText, ref TextBox targetSpeedText)
{
if (string.IsNullOrEmpty(targetLengthText.Text) || string.IsNullOrEmpty(targetPassCenterDicretionText.Text) || string.IsNullOrEmpty(targetHeadingText.Text) || string.IsNullOrEmpty(targetPassCenterTimeText.Text) || string.IsNullOrEmpty(subHeadingText.Text))
{
return;
}
double targetLength, targetPassCenterDirection, targetHeading, targetPassCenterTime, subHeading = 0;
try
{
targetLength = Convert.ToDouble(targetLengthText.Text);
targetPassCenterDirection = Convert.ToDouble(targetPassCenterDicretionText.Text);
targetHeading = Convert.ToDouble(targetHeadingText.Text);
targetPassCenterTime = Convert.ToDouble(targetPassCenterTimeText.Text);
subHeading = Convert.ToDouble(subHeadingText.Text);
}
catch
{
MessageBox.Show("invalid number: " + targetLengthText.Text + ", " + targetPassCenterDicretionText.Text + ", " + targetHeadingText.Text + ", " + targetPassCenterTimeText.Text + ", " + subHeadingText.Text);
return;
}
double actualTargetPassCenterDirection = DirectionOperation.CalculateSubActualDirection(subHeading, targetPassCenterDirection);
//if (targetPassCenterDirection > 180)
//{
// actualTargetPassDirection = subHeading - (360 - targetPassCenterDirection);
//}
//else
//{
// actualTargetPassDirection = subHeading + targetPassCenterDirection;
//}
double standardTargetHeading = actualTargetPassCenterDirection - 90;
standardTargetHeading = DirectionOperation.CorrectDirection(standardTargetHeading);
double targetTiltAngle = Math.Abs(targetHeading - standardTargetHeading);
if (targetTiltAngle > 180)
{
targetTiltAngle = Math.Min(targetHeading, standardTargetHeading) + 360 - Math.Max(targetHeading, standardTargetHeading);
DirectionOperation.CorrectDirection(targetTiltAngle);
}
double actualLength = MathOperation.Cos(targetTiltAngle) * targetLength;
double standardSpeed = Math.Round(actualLength / targetPassCenterTime * 1.94, 2);
double targetSpeed = standardSpeed / MathOperation.Cos(targetTiltAngle);
targetSpeedText.Text = targetSpeed.ToString();
}