using System;
using System.Collections.Generic;
using System.Text;
using CategoryTheory;
using Motion6D.Intrefaces;
namespace Motion6D
{
public class Position : IPosition, IChildrenObject
{
#region Fields
protected IReferenceFrame parent;
protected double[] own = new double[] { 0, 0, 0 };
protected double[] position = new double[3];
protected object parameters;
protected IAssociatedObject[] ch = new IAssociatedObject[1];
#endregion
#region Ctor
protected Position()
{
}
public Position(double[] position)
{
for (int i = 0; i < own.Length; i++)
{
own[i] = position[i];
}
}
#endregion
#region IPosition Members
double[] IPosition.Position
{
get { return position; }
}
public virtual IReferenceFrame Parent
{
get
{
return parent;
}
set
{
parent = value;
}
}
public virtual object Parameters
{
get
{
return parameters;
}
set
{
parameters = value;
if (value is IAssociatedObject)
{
IAssociatedObject ao = value as IAssociatedObject;
ch[0] = ao;
}
}
}
public virtual void Update()
{
Update(BaseFrame);
}
#endregion
#region Specific Members
protected virtual void Update(ReferenceFrame frame)
{
double[,] m = frame.Matrix;
double[] p = frame.Position;
for (int i = 0; i < p.Length; i++)
{
position[i] = p[i];
for (int j = 0; j < own.Length; j++)
{
position[i] += m[i, j] * own[j];
}
}
}
protected virtual ReferenceFrame BaseFrame
{
get
{
if (parent == null)
{
return Motion6D.Motion6DFrame.Base;
}
return parent.Own;
}
}
#endregion
#region IChildrenObject Members
IAssociatedObject[] IChildrenObject.Children
{
get { return ch; }
}
#endregion
}
}
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