public MotionSequence GenerateSynchronousSingleSequence(int dimention)
{
var uniform = new ContinuousUniform(0, 1, _randomGenerator);
var ValueRangeRatio = (float)uniform.Sample();
var InitialForce = (float)uniform.Sample();
if (_numControlPoints != InitialTimes.Length)
{
throw new ArgumentException("コントロールポイント数が不一致");
}
// 位相にノイズを入れる
var offset = Mathf.PI * (uniform.Sample() > 0.5 ? 1 : 0);
var sequence = new MotionTarget[InitialTimes.Length];
for (var i = 0; i < InitialTimes.Length; i++)
{
var values = new float[dimention];
values[0] = InitialForce;
for (var d = 1; d < dimention; d++)
{
// control point value
var radian = InitialTimes[i] * 2f * Mathf.PI + offset;
values[d] = 0.5f + ValueRangeRatio * Mathf.Sin(radian) / 2f; // [0,1]に正規化;
}
sequence[i] = new MotionTarget(InitialTimes[i] * _timeRange, values);
}
return(new MotionSequence(sequence));
}
public void MotionSequenceのシリアライズ()
{
var a = new MotionTarget(0.0f, new List <float> {
0.0f, 1.0f, 2.0f
});
var b = new MotionTarget(1.0f, new List <float> {
0.0f, 2.0f, 4.0f
});
var src = new MotionSequence(new List <MotionTarget> {
a, b
});
var dst = new MotionSequence(MotionGeneratorSerialization.DeepClone(src.Save()));
Assert.AreEqual(src.Sequences.Length, dst.Sequences.Length);
for (int n = 0; n < src.Sequences.Length; ++n)
{
var s = src[n];
var d = dst[n];
Assert.AreEqual(s.Time, d.Time);
Assert.AreEqual(s.Values.Length, d.Values.Length);
for (int m = 0; m < s.Values.Length; ++m)
{
Assert.AreEqual(s.Values[m], d.Values[m]);
}
}
}
public MotionTarget(MotionTarget origin)
{
Time = origin.Time;
Values = origin.Values.ToArray();
}
