source: flair-src/trunk/lib/FlairFilter/src/EulerDerivative_impl.cpp@ 223

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2011/05/01

//  filename:   EulerDerivative.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    objet permettant le calcul d'une derivee d'Euler

//

//

/*********************************************************************/



#include "EulerDerivative.h"

#include "EulerDerivative_impl.h"

#include <Matrix.h>

#include <Layout.h>

#include <GroupBox.h>

#include <DoubleSpinBox.h>



using std::string;

using namespace flair::core;

using namespace flair::gui;

using namespace flair::filter;



EulerDerivative_impl::EulerDerivative_impl(EulerDerivative *self,

                                           const LayoutPosition *position,

                                           string name,

                                           const Matrix *init_value) {

  this->self = self;

  

  if (init_value != NULL) {

    // init output matrix of same size as init

    cvmatrix_descriptor *desc =new cvmatrix_descriptor(init_value->Rows(), init_value->Cols());



    for (int i = 0; i < init_value->Rows(); i++) {

      for (int j = 0; j < init_value->Cols(); j++) {

        desc->SetElementName(i, j, init_value->Name(i, j));

      }

    }

    output = new Matrix(self, desc,init_value->GetDataType().GetElementDataType(), name);

    delete desc;

    for (int i = 0; i < init_value->Rows(); i++) {

      for (int j = 0; j < init_value->Cols(); j++) {

        output->SetValue(i, j, init_value->Value(i,j));

      }

    }

  } else {

    // if NULL, assume dimension 1, and init=0

    cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);

    desc->SetElementName(0, 0, "output");

    output = new Matrix(self, desc, floatType, name);

    delete desc;

  }

  

 

  cvmatrix_descriptor *desc = new cvmatrix_descriptor(output->Rows(), output->Cols());

  prev_value = new Matrix(self, desc, output->GetDataType().GetElementDataType(), name);





  // init UI

  GroupBox *reglages_groupbox = new GroupBox(position, name);

  T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto:",

                        " s", 0, 1, 0.01);

}



EulerDerivative_impl::~EulerDerivative_impl() {}



void EulerDerivative_impl::UpdateFrom(const io_data *data) {

  float delta_t;

  const Matrix* input = dynamic_cast<const Matrix*>(data);

  

  if (!input) {

      self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());

      return;

  }



  // on prend une fois pour toute les mutex et on fait des accès directs

  output->GetMutex();

  input->GetMutex();



  if (first_update == true) {

    for (int i = 0; i < input->Rows(); i++) {

      for (int j = 0; j < input->Cols(); j++) {

        prev_value->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));

      }

    }

    first_update = false;

  } else {

    if (T->Value() == 0) {

      delta_t = (float)(data->DataDeltaTime()) / 1000000000.;

    } else {

      delta_t = T->Value();

    }



    if(delta_t!=0) {

      for (int i = 0; i < input->Rows(); i++) {

        for (int j = 0; j < input->Cols(); j++) {

          output->SetValueNoMutex(

              i, j, (input->ValueNoMutex(i, j) - prev_value->ValueNoMutex(i, j)) /

                        delta_t);

          prev_value->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));

        }

      }

    }

  }



  input->ReleaseMutex();

  output->ReleaseMutex();



  output->SetDataTime(data->DataTime());

}