[10] | 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
[7] | 5 | // created: 2011/05/01
|
---|
| 6 | // filename: EulerDerivative.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: objet permettant le calcul d'une derivee d'Euler
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 |
|
---|
| 18 | #include "EulerDerivative.h"
|
---|
| 19 | #include "EulerDerivative_impl.h"
|
---|
| 20 | #include <cvmatrix.h>
|
---|
| 21 | #include <Layout.h>
|
---|
| 22 | #include <GroupBox.h>
|
---|
| 23 | #include <DoubleSpinBox.h>
|
---|
| 24 |
|
---|
| 25 | using std::string;
|
---|
| 26 | using namespace flair::core;
|
---|
| 27 | using namespace flair::gui;
|
---|
| 28 | using namespace flair::filter;
|
---|
| 29 |
|
---|
| 30 | EulerDerivative_impl::EulerDerivative_impl(EulerDerivative* self,const LayoutPosition* position,string name,const cvmatrix* init_value)
|
---|
| 31 | {
|
---|
| 32 | first_update=true;
|
---|
| 33 |
|
---|
| 34 | if(init_value!=NULL)
|
---|
| 35 | {
|
---|
| 36 | prev_value=(cvmatrix*)init_value;
|
---|
| 37 | }
|
---|
| 38 | else
|
---|
| 39 | {
|
---|
| 40 | //if NULL, assume dimension 1, and init=0
|
---|
| 41 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(1,1);
|
---|
| 42 | desc->SetElementName(0,0,"output");
|
---|
| 43 | prev_value=new cvmatrix(self,desc,floatType,name);
|
---|
| 44 | prev_value->SetValue(0,0,0);
|
---|
| 45 | }
|
---|
| 46 |
|
---|
| 47 | //init UI
|
---|
| 48 | GroupBox* reglages_groupbox=new GroupBox(position,name);
|
---|
| 49 | T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto:"," s",0,1,0.01);
|
---|
| 50 |
|
---|
| 51 | //init output matrix of same size as init
|
---|
| 52 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(prev_value->Rows(),prev_value->Cols());
|
---|
| 53 |
|
---|
| 54 | for(int i=0;i<prev_value->Rows();i++)
|
---|
| 55 | {
|
---|
| 56 | for(int j=0;j<prev_value->Cols();j++)
|
---|
| 57 | {
|
---|
| 58 | desc->SetElementName(i,j,prev_value->Name(i,j));
|
---|
| 59 | }
|
---|
| 60 | }
|
---|
| 61 |
|
---|
| 62 | output=new cvmatrix(self,desc,prev_value->GetDataType().GetElementDataType(),name);
|
---|
| 63 | }
|
---|
| 64 |
|
---|
| 65 | EulerDerivative_impl::~EulerDerivative_impl()
|
---|
| 66 | {
|
---|
| 67 |
|
---|
| 68 | }
|
---|
| 69 |
|
---|
| 70 | void EulerDerivative_impl::UpdateFrom(const io_data *data)
|
---|
| 71 | {
|
---|
| 72 | float delta_t;
|
---|
| 73 | cvmatrix *input=(cvmatrix*)data;
|
---|
| 74 |
|
---|
| 75 | //on prend une fois pour toute les mutex et on fait des accès directs
|
---|
| 76 | output->GetMutex();
|
---|
| 77 | input->GetMutex();
|
---|
| 78 |
|
---|
| 79 | if(first_update==true)
|
---|
| 80 | {
|
---|
| 81 | for(int i=0;i<input->Rows();i++)
|
---|
| 82 | {
|
---|
| 83 | for(int j=0;j<input->Cols();j++)
|
---|
| 84 | {
|
---|
| 85 | output->SetValueNoMutex(i,j,prev_value->ValueNoMutex(i,j));
|
---|
| 86 | prev_value->SetValueNoMutex(i,j,input->ValueNoMutex(i,j));
|
---|
| 87 | }
|
---|
| 88 | }
|
---|
| 89 | first_update=false;
|
---|
| 90 | }
|
---|
| 91 | else
|
---|
| 92 | {
|
---|
| 93 | if(T->Value()==0)
|
---|
| 94 | {
|
---|
| 95 | delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
|
---|
| 96 | }
|
---|
| 97 | else
|
---|
| 98 | {
|
---|
| 99 | delta_t=T->Value();
|
---|
| 100 | }
|
---|
| 101 |
|
---|
| 102 | for(int i=0;i<input->Rows();i++)
|
---|
| 103 | {
|
---|
| 104 | for(int j=0;j<input->Cols();j++)
|
---|
| 105 | {
|
---|
| 106 | output->SetValueNoMutex(i,j,(input->ValueNoMutex(i,j)-prev_value->ValueNoMutex(i,j))/delta_t);
|
---|
| 107 | prev_value->SetValueNoMutex(i,j,input->ValueNoMutex(i,j));
|
---|
| 108 | }
|
---|
| 109 | }
|
---|
| 110 | }
|
---|
| 111 |
|
---|
| 112 | input->ReleaseMutex();
|
---|
| 113 | output->ReleaseMutex();
|
---|
| 114 |
|
---|
| 115 | output->SetDataTime(data->DataTime());
|
---|
| 116 | previous_time=data->DataTime();
|
---|
| 117 | }
|
---|
| 118 |
|
---|