/// <summary>
/// Create a Kalman smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public KalmanJoint(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
var parms = parameters as KalmanSmoothingParameters;
if (parms == null)
parms = new KalmanSmoothingParameters();
_measurementUncertainty = new Vector3(parms.MeasurementUncertainty);
_jitterRadius = parms.JitterRadius;
}
/// <summary>
/// Create a Kalman smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public KalmanJoint(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
var parms = parameters as KalmanSmoothingParameters;
if (parms == null)
{
parms = new KalmanSmoothingParameters();
}
_measurementUncertainty = new Vector3(parms.MeasurementUncertainty);
_jitterRadius = parms.JitterRadius;
}
/// <summary>
/// Creates an instance of a <c>SmoothedBody</c> using the referenced smoothing
/// parameters object.
/// </summary>
public SmoothedBody(ISmootherParameters parameters)
: base()
{
ISmoother smoother = (ISmoother)Activator.CreateInstance(typeof(T));
_joints.Clear();
_jointOrientations.Clear();
foreach (var jointType in JointTypeEx.AllJoints)
{
_joints.Add(jointType, (IJoint)Activator.CreateInstance(smoother.CustomJointType, (JointType)jointType, parameters));
_jointOrientations.Add(jointType, (IJointOrientation)Activator.CreateInstance(smoother.CustomJointOrientationType, (JointType)jointType, parameters));
}
}
/// <summary>
/// Create an exponential smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public ExponentialJoint(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
var parms = parameters as ExponentialSmoothingParameters;
if (parms == null)
parms = new ExponentialSmoothingParameters();
_smoothing = parms.Smoothing;
_correction = parms.Correction;
_prediction = parms.Prediction;
// Check for divide by zero. Use an epsilon of a 10th of a millimeter
_jitterRadius = Math.Max(0.0001f, parms.JitterRadius);
_maxDeviationRadius = parms.MaxDeviationRadius;
_history = new FilterDoubleExponentialData();
}
/// <summary>
/// Create an exponential smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public ExponentialJoint(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
var parms = parameters as ExponentialSmoothingParameters;
if (parms == null)
{
parms = new ExponentialSmoothingParameters();
}
_smoothing = parms.Smoothing;
_correction = parms.Correction;
_prediction = parms.Prediction;
// Check for divide by zero. Use an epsilon of a 10th of a millimeter
_jitterRadius = Math.Max(0.0001f, parms.JitterRadius);
_maxDeviationRadius = parms.MaxDeviationRadius;
_history = new FilterDoubleExponentialData();
}
/// <summary>
/// Create a Kalman smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public KalmanJointOrientation(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
}
/// <summary>
/// Create an instance of a <c>SmoothedBodyList</c> collection. Accepts an
/// optional parameters object of the type appropriate for the specified
/// <c>ISmoother</c>.
/// </summary>
public SmoothedBodyList(ISmootherParameters parameters = null)
{
_parameters = parameters;
}
/// <summary>
/// Create an exponential smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public ExponentialJointOrientation(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
}