source: flair-src/trunk/lib/FlairFilter/src/EulerDerivative_impl.cpp@ 318

Last change on this file since 318 was 318, checked in by Sanahuja Guillaume, 3 years ago
File size: 4.1 KB
Line 
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}
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 <Matrix.h>
21#include <Layout.h>
22#include <GroupBox.h>
23#include <DoubleSpinBox.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28using namespace flair::filter;
29
30EulerDerivative_impl::EulerDerivative_impl(EulerDerivative *self,
31 const LayoutPosition *position,
32 string name,
33 const Matrix *init_value) {
34 this->self = self;
35 first_update = true;
36
37 if (init_value != NULL) {
38 // init output matrix of same size as init
39 MatrixDescriptor *desc =new MatrixDescriptor(init_value->Rows(), init_value->Cols());
40
41 for (int i = 0; i < init_value->Rows(); i++) {
42 for (int j = 0; j < init_value->Cols(); j++) {
43 desc->SetElementName(i, j, init_value->Name(i, j));
44 }
45 }
46 output = new Matrix(self, desc,init_value->GetDataType().GetElementDataType(), name);
47 delete desc;
48 for (int i = 0; i < init_value->Rows(); i++) {
49 for (int j = 0; j < init_value->Cols(); j++) {
50 output->SetValue(i, j, init_value->Value(i,j));
51 }
52 }
53 } else {
54 // if NULL, assume dimension 1, and init=0
55 MatrixDescriptor *desc = new MatrixDescriptor(1, 1);
56 desc->SetElementName(0, 0, "output");
57 output = new Matrix(self, desc, floatType, name);
58 delete desc;
59 }
60
61
62 MatrixDescriptor *desc = new MatrixDescriptor(output->Rows(), output->Cols());
63 prev_input = new Matrix(self, desc, output->GetDataType().GetElementDataType(), name);
64 prev_output = new Matrix(self, desc, output->GetDataType().GetElementDataType(), name);
65 delete desc;
66
67
68 // init UI
69 GroupBox *reglages_groupbox = new GroupBox(position, name);
70 T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto:"," s", 0, 1, 0.01);
71 sat = new DoubleSpinBox(reglages_groupbox->NewRow(), "saturation, -1 to disable:",-1,100000,1,1,-1);
72}
73
74EulerDerivative_impl::~EulerDerivative_impl() {}
75
76void EulerDerivative_impl::UpdateFrom(const io_data *data) {
77 float delta_t;
78 const Matrix* input = dynamic_cast<const Matrix*>(data);
79
80 if (!input) {
81 self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());
82 return;
83 }
84
85 // on prend une fois pour toute les mutex et on fait des accès directs
86 output->GetMutex();
87 input->GetMutex();
88
89 if (first_update == true) {
90 for (int i = 0; i < input->Rows(); i++) {
91 for (int j = 0; j < input->Cols(); j++) {
92 prev_input->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));
93 }
94 }
95 first_update = false;
96 } else {
97 if (T->Value() == 0) {
98 delta_t = (float)(data->DataDeltaTime()) / 1000000000.;
99 } else {
100 delta_t = T->Value();
101 }
102
103 if(delta_t!=0) {
104 for (int i = 0; i < input->Rows(); i++) {
105 for (int j = 0; j < input->Cols(); j++) {
106 float result=(input->ValueNoMutex(i, j) - prev_input->ValueNoMutex(i, j)) / delta_t;
107 if(sat->Value()!=-1) {
108 if(result>sat->Value() && result>0) result=sat->Value();
109 if(result<-sat->Value() && result<0) result=-sat->Value();
110 }/* filter by acc
111 float acc=result-prev_output->ValueNoMutex(i, j)/delta_t;
112 if(acc>20 || acc<-20) {
113 printf("%s %f\n",self->ObjectName().c_str(),acc);
114 } else {*/
115 output->SetValueNoMutex(i, j, result);
116 //}
117 prev_output->SetValueNoMutex(i, j, result);
118 prev_input->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));
119
120 }
121 }
122 }
123 }
124
125 input->ReleaseMutex();
126 output->ReleaseMutex();
127
128 output->SetDataTime(data->DataTime());
129}
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