[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2011/05/01
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| 6 | // filename: EulerDerivative.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet permettant le calcul d'une derivee d'Euler
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "EulerDerivative.h"
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| 19 | #include "EulerDerivative_impl.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <DoubleSpinBox.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 | using namespace flair::filter;
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| 29 |
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[15] | 30 | EulerDerivative_impl::EulerDerivative_impl(EulerDerivative *self,
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| 31 | const LayoutPosition *position,
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| 32 | string name,
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| 33 | const cvmatrix *init_value) {
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| 34 | first_update = true;
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[147] | 35 |
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| 36 | if (init_value != NULL) {
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| 37 | // init output matrix of same size as init
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| 38 | cvmatrix_descriptor *desc =new cvmatrix_descriptor(init_value->Rows(), init_value->Cols());
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[7] | 39 |
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[147] | 40 | for (int i = 0; i < init_value->Rows(); i++) {
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| 41 | for (int j = 0; j < init_value->Cols(); j++) {
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| 42 | desc->SetElementName(i, j, init_value->Name(i, j));
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| 43 | }
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| 44 | }
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| 45 | output = new cvmatrix(self, desc,init_value->GetDataType().GetElementDataType(), name);
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[148] | 46 | delete desc;
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[147] | 47 | for (int i = 0; i < init_value->Rows(); i++) {
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| 48 | for (int j = 0; j < init_value->Cols(); j++) {
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| 49 | output->SetValue(i, j, init_value->Value(i,j));
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| 50 | }
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| 51 | }
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[15] | 52 | } else {
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| 53 | // if NULL, assume dimension 1, and init=0
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| 54 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);
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| 55 | desc->SetElementName(0, 0, "output");
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[147] | 56 | output = new cvmatrix(self, desc, floatType, name);
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[148] | 57 | delete desc;
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[15] | 58 | }
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[147] | 59 |
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| 60 |
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| 61 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(output->Rows(), output->Cols());
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| 62 | prev_value = new cvmatrix(self, desc, output->GetDataType().GetElementDataType(), name);
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[7] | 63 |
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[147] | 64 |
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[15] | 65 | // init UI
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| 66 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 67 | T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto:",
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| 68 | " s", 0, 1, 0.01);
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[7] | 69 | }
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| 70 |
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[15] | 71 | EulerDerivative_impl::~EulerDerivative_impl() {}
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[7] | 72 |
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[15] | 73 | void EulerDerivative_impl::UpdateFrom(const io_data *data) {
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| 74 | float delta_t;
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| 75 | cvmatrix *input = (cvmatrix *)data;
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[7] | 76 |
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[15] | 77 | // on prend une fois pour toute les mutex et on fait des accès directs
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| 78 | output->GetMutex();
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| 79 | input->GetMutex();
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[7] | 80 |
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[15] | 81 | if (first_update == true) {
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| 82 | for (int i = 0; i < input->Rows(); i++) {
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| 83 | for (int j = 0; j < input->Cols(); j++) {
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| 84 | prev_value->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));
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| 85 | }
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[7] | 86 | }
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[15] | 87 | first_update = false;
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| 88 | } else {
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| 89 | if (T->Value() == 0) {
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| 90 | delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
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| 91 | } else {
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| 92 | delta_t = T->Value();
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| 93 | }
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[7] | 94 |
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[15] | 95 | for (int i = 0; i < input->Rows(); i++) {
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| 96 | for (int j = 0; j < input->Cols(); j++) {
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| 97 | output->SetValueNoMutex(
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| 98 | i, j, (input->ValueNoMutex(i, j) - prev_value->ValueNoMutex(i, j)) /
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| 99 | delta_t);
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| 100 | prev_value->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));
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| 101 | }
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[7] | 102 | }
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[15] | 103 | }
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[7] | 104 |
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[15] | 105 | input->ReleaseMutex();
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| 106 | output->ReleaseMutex();
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[7] | 107 |
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[15] | 108 | output->SetDataTime(data->DataTime());
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| 109 | previous_time = data->DataTime();
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[7] | 110 | }
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