using System;
using System.Collections.Generic;
using System.Text;
using System.Runtime.Serialization;
using CategoryTheory;
using DiagramUI;
using BaseTypes;
using DataPerformer;
using DataPerformer.Interfaces;
using PhysicalField;
using Motion6D.Intrefaces;
namespace Motion6D
{
/// <summary>
/// Data for inertial sensor
/// </summary>
[Serializable()]
public class InertialSensorData : CategoryObject, ISerializable, IMeasurements,
IPositionObject, IPostSetArrow, IChildrenObject
{
#region Fields
/// <summary>
/// Measurements
/// </summary>
IMeasure[] measurements = new IMeasure[8];
/// <summary>
/// Acceleration
/// </summary>
double[] acc = new double[3];
/// <summary>
/// Angular acceleration
/// </summary>
double[] eps = new double[3];
/// <summary>
/// Relative acceleration
/// </summary>
double[] relacc = new double[3];
/// <summary>
/// Transformation
/// </summary>
TransformVector transform;
/// <summary>
/// The "is updated" sign
/// </summary>
bool isUpdated;
/// <summary>
/// Accelerated frame
/// </summary>
IAcceleration accframe;
/// <summary>
/// Angular frame
/// </summary>
IAngularAcceleration ancframe;
/// <summary>
/// Frame
/// </summary>
ReferenceFrame frame;
/// <summary>
/// Position
/// </summary>
IPosition pos;
/// <summary>
/// Return type
/// </summary>
private static readonly ArrayReturnType type = new ArrayReturnType((Double)0, new int[] { 3 }, false);
/// <summary>
/// Relative frame
/// </summary>
RelativeField relative = new RelativeField(false);
/// <summary>
/// Children
/// </summary>
IAssociatedObject[] children = new IAssociatedObject[1];
#endregion
#region Ctor
/// <summary>
/// Default ctor
/// </summary>
public InertialSensorData()
{
CreateMeasurements();
transform = Copy;
children[0] = relative;
post();
}
/// <summary>
/// Deserialization ctor
/// </summary>
/// <param name="info">Serialization info</param>
/// <param name="context">Streaming context</param>
protected InertialSensorData(SerializationInfo info, StreamingContext context)
: this()
{
relative = RelativeField.Load(info, this);
post();
}
#endregion
#region ISerializable Members
void ISerializable.GetObjectData(SerializationInfo info, StreamingContext context)
{
relative.Save(info);
}
#endregion
#region IMeasurements Members
int IMeasurements.Count
{
get { return measurements.Length; }
}
IMeasure IMeasurements.this[int n]
{
get { return measurements[n]; }
}
void IMeasurements.UpdateMeasurements()
{
update();
}
bool IMeasurements.IsUpdated
{
get
{
return isUpdated;
}
set
{
isUpdated = value;
}
}
#endregion
#region IPositionObject Members
IPosition IPositionObject.Position
{
get
{
return pos;
}
set
{
ReferenceFrame f = ReferenceFrame.GetFrame(value);
if (!(f is IAcceleration))
{
throw new Exception("You should set this component on accelerated frame");
}
pos = value;
frame = f;
accframe = f as IAcceleration;
ancframe = f as IAngularAcceleration;
IPositionObject po = relative as IPositionObject;
po.Position = value;
}
}
#endregion
#region IPostSetArrow Members
void IPostSetArrow.PostSetArrow()
{
IPostSetArrow p = relative as IPostSetArrow;
p.PostSetArrow();
transform = VectorOperations.CreateTransformer(Copy, this);
}
#endregion
#region IChildrenObject Members
IAssociatedObject[] IChildrenObject.Children
{
get { return children; }
}
#endregion
#region Members
/// <summary>
/// Returns field
/// </summary>
public RelativeField Field
{
get
{
return relative;
}
}
void post()
{
IPositionObject po = relative;
po.Position = pos;
}
void Copy(double[] x)
{
Array.Copy(accframe.LinearAcceleration, x, 3);
}
void update()
{
Array.Copy(ancframe.AngularAcceleration, eps, 3);
transform(acc);
}
void CreateMeasurements()
{
Double a = 0;
measurements[0] = new Measure(type, getA, "A");
measurements[1] = new Measure(type, getEps, "E");
measurements[2] = new Measure(getAx, "Ax");
measurements[3] = new Measure(getAy, "Ay");
measurements[4] = new Measure(getAz, "Az");
measurements[5] = new Measure(getEx, "Ex");
measurements[6] = new Measure(getEy, "Ey");
measurements[7] = new Measure(getEz, "Ez");
}
object getAx()
{
return acc[0];
}
object getAy()
{
return acc[1];
}
object getAz()
{
return acc[2];
}
object getA()
{
return acc;
}
object getEx()
{
return eps[0];
}
object getEy()
{
return eps[1];
}
object getEz()
{
return eps[2];
}
object getEps()
{
return eps;
}
#endregion
}
}
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