private void PostCreateFrame()
{
try
{
frame = this.GetFrame();
acc = frame.GetSimpleObject <IAcceleration>("Object should have acceleration");
angvel = frame.GetSimpleObject <IAngularVelocity>("Object should have angular velocity");
vel = frame.GetSimpleObject <IVelocity>("Object should have velocity");
angacc = frame.GetSimpleObject <IAngularAcceleration>("Object should have angular acceleration");
}
catch (Exception e)
{
e.ShowError(10);
IPosition p = this;
p.Parent = null;
throw e;
}
}
/// <summary>
/// Sets state
/// </summary>
/// <param name="baseFrame">Base frame</param>
/// <param name="relative">Relative frame</param>
public override void Set(ReferenceFrame baseFrame, ReferenceFrame relative)
{
base.Set(baseFrame, relative);
IAcceleration ab = baseFrame as IAcceleration;
IAcceleration ar = relative as IAcceleration;
IAngularAcceleration arn = relative as IAngularAcceleration;
IVelocity vb = baseFrame as IVelocity;
IVelocity vr = relative as IVelocity;
IAngularVelocity anb = baseFrame as IAngularVelocity;
IAngularVelocity anr = relative as IAngularVelocity;
double[] rp = Position;
double[,] m = Matrix;
double[] omr = anr.Omega;
StaticExtensionVector3D.VectorPoduct(omr, vr.Velocity, tempV);
double om2 = StaticExtensionVector3D.Square(omr);
double[] eps = arn.AngularAcceleration;
StaticExtensionVector3D.VectorPoduct(eps, rp, temp);
for (int i = 0; i < 3; i++)
{
tempV[i] *= 2;
tempV[i] += om2 * rp[i] + relativeAcceleration[i] + temp[i];
}
RealMatrix.Multiply(m, tempV, acceleration);
double[] omb = anb.Omega;
IOrientation orr = relative as IOrientation;
double[,] mrr = orr.Matrix;
RealMatrix.Multiply(omb, mrr, temp);
StaticExtensionVector3D.VectorPoduct(temp, omr, tempV);
for (int i = 0; i < 3; i++)
{
temp[i] = eps[i] + tempV[i];
}
RealMatrix.Multiply(temp, m, angularAcceleration);
}
/// <summary>
/// Updates itself
/// </summary>
public override void Update()
{
try
{
this.FullReset();
IDataConsumer cons = this;
cons.UpdateChildrenData();
ReferenceFrame relative = Relative;
IPosition p = relative;
double[] x = p.Position;
ReferenceFrame parent = this.GetParentFrame();
for (int i = 0; i < 3; i++)
{
x[i] = (double)measurements[i].Parameter();
}
if (relative is IVelocity)
{
IVelocity vel = relative as IVelocity;
double[] v = vel.Velocity;
for (int i = 0; i < 3; i++)
{
IDerivation d = measurements[i] as IDerivation;
v[i] = Measurement.GetDouble(d.Derivation);
}
}
double[] qua = relative.Quaternion;
for (int i = 0; i < qua.Length; i++)
{
IMeasurement m = measurements[i + 3];
qua[i] = (double)m.Parameter();
}
relative.SetMatrix();
if (relative is IAngularVelocity)
{
IAngularVelocity av = relative as IAngularVelocity;
double[] om = av.Omega;
IOrientation or = relative as IOrientation;
for (int i = 0; i < 4; i++)
{
IDerivation d = measurements[i + 3] as IDerivation;
der[i] = Measurement.GetDouble(d.Derivation);
}
Vector3D.StaticExtensionVector3D.CalculateDynamics(or.Quaternion, der, om, qd);
}
if (relative is IAcceleration)
{
IAcceleration acc = relative as IAcceleration;
IAngularAcceleration anc = relative as IAngularAcceleration;
double[] linacc = acc.RelativeAcceleration;
for (int i = 0; i < linacc.Length; i++)
{
linacc[i] = Measurement.GetDouble(secondDeriM[i]);
}
for (int i = 0; i < 4; i++)
{
angsec[i] = Measurement.GetDouble(secondDeriM[i + 3]);
}
IAngularVelocity av = relative as IAngularVelocity;
double[] om = av.Omega;
IOrientation or = relative as IOrientation;
double[] angacc = anc.AngularAcceleration;
Vector3D.StaticExtensionVector3D.CalculateAcceleratedDynamics(or.Quaternion, der, om, qd, angsec, angacc);
}
base.Update();
}
catch (Exception exception)
{
exception.ShowError(10);
//!!! OLD this.Throw(ex);
}
}