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);
}
private void ComputeRawAccelerations(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 4)
{
PadRawAccelerations(kinematics);
return;
}
for (int i = 2; i < kinematics.Length - 2; i++)
{
PointF p0 = kinematics.RawCoordinates(i - 2);
PointF p2 = kinematics.RawCoordinates(i);
PointF p4 = kinematics.RawCoordinates(i + 2);
float t02 = calibrationHelper.GetTime(2);
float t24 = calibrationHelper.GetTime(2);
float t13 = calibrationHelper.GetTime(2);
kinematics.RawAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Magnitude));
kinematics.RawHorizontalAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Horizontal));
kinematics.RawVerticalAcceleration[i] = calibrationHelper.ConvertAcceleration(GetAcceleration(p0, p2, p4, t02, t24, t13, Component.Vertical));
}
PadRawAccelerations(kinematics);
}
private void ComputeAngularVelocities(TrajectoryKinematics kinematics, CalibrationHelper calibrationHelper)
{
if (kinematics.Length <= 2)
{
PadAngularVelocities(kinematics);
return;
}
for (int i = 1; i < kinematics.Length - 1; i++)
{
double d1 = GetDisplacementAngle(kinematics, i, i - 1);
double d2 = GetDisplacementAngle(kinematics, i + 1, i);
float time = calibrationHelper.GetTime(2);
float inRadPerSecond = (float)((d1 + d2) / time);
kinematics.AngularVelocity[i] = calibrationHelper.ConvertAngularVelocity(inRadPerSecond);
kinematics.TangentialVelocity[i] = calibrationHelper.ConvertSpeed((float)(inRadPerSecond * kinematics.RotationRadius));
kinematics.CentripetalAcceleration[i] = calibrationHelper.ConvertAcceleration((float)(inRadPerSecond * inRadPerSecond * kinematics.RotationRadius));
}
PadAngularVelocities(kinematics);
}