public ConstantVelocityProcess()
{
currentState = new ConstantVelocity2DModel
{
Position = new PointF(50, 1),
Velocity = new PointF(0.3f, 0.3f)
};
initialState = currentState;
}
public ConstantVelocity2DModel GetNoisyState(double accelerationNoise)
{
var processNoiseMat = ConstantVelocity2DModel.GetProcessNoise(accelerationNoise);
var noise = normalDistribution.Generate(ConstantVelocity2DModel.Dimension).Multiply(processNoiseMat);
return(new ConstantVelocity2DModel
{
Position = new PointF
{
X = currentState.Position.X + (float)noise[0],
Y = currentState.Position.Y + (float)noise[2]
},
Velocity = new PointF
{
X = currentState.Velocity.X + (float)noise[1],
Y = currentState.Velocity.Y + (float)noise[3]
}
});
}
public void GoToNextState(out bool doneFullCycle)
{
Func <PointF, bool> isBorder = (point) =>
{
return(point.X <= 0 || point.X >= WorkingArea.Width ||
point.Y <= 0 || point.Y >= WorkingArea.Height);
};
doneFullCycle = false;
var prevPos = currentState.Position;
var speed = currentState.Velocity;
if (isBorder(currentState.Position))
{
var temp = speed.X;
speed.X = -speed.Y;
speed.Y = temp;
if (speed.Equals(initialState.Velocity))
{
doneFullCycle = true;
}
}
var nextState = new ConstantVelocity2DModel
{
Position = new PointF
{
X = prevPos.X + speed.X * TimeInterval,
Y = prevPos.Y + speed.Y * TimeInterval
},
Velocity = speed
};
currentState = nextState;
}
