// Update the segment's position and compute a smoothed velocity for the circle or the
// endpoints of the segment based on the time it took it to move from the last position
// to the current one. The velocity is in iRobotKinects per second.
public void UpdateSegment(Segment s)
{
this.LastSegment = this.Segment;
this.Segment = s;
DateTime cur = DateTime.Now;
double fMs = cur.Subtract(this.TimeLastUpdated).TotalMilliseconds;
if (fMs < 10.0)
{
fMs = 10.0;
}
double fps = 1000.0 / fMs;
this.TimeLastUpdated = cur;
if (this.Segment.IsCircle())
{
this.XVelocity = (this.XVelocity * Smoothing) + ((1.0 - Smoothing) * (this.Segment.X1 - this.LastSegment.X1) * fps);
this.YVelocity = (this.YVelocity * Smoothing) + ((1.0 - Smoothing) * (this.Segment.Y1 - this.LastSegment.Y1) * fps);
}
else
{
this.XVelocity = (this.XVelocity * Smoothing) + ((1.0 - Smoothing) * (this.Segment.X1 - this.LastSegment.X1) * fps);
this.YVelocity = (this.YVelocity * Smoothing) + ((1.0 - Smoothing) * (this.Segment.Y1 - this.LastSegment.Y1) * fps);
this.XVelocity2 = (this.XVelocity2 * Smoothing) + ((1.0 - Smoothing) * (this.Segment.X2 - this.LastSegment.X2) * fps);
this.YVelocity2 = (this.YVelocity2 * Smoothing) + ((1.0 - Smoothing) * (this.Segment.Y2 - this.LastSegment.Y2) * fps);
}
}
public BoneData(Segment s)
{
this.Segment = this.LastSegment = s;
this.XVelocity = this.YVelocity = 0;
this.XVelocity2 = this.YVelocity2 = 0;
this.TimeLastUpdated = DateTime.Now;
}