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authorStanislaw Halik <sthalik@misaki.pl>2017-01-16 19:16:29 +0100
committerStanislaw Halik <sthalik@misaki.pl>2017-01-16 19:16:29 +0100
commit3707b8d5fe085d47a02f71b0df9a98d6898d94c9 (patch)
tree2008b53e63551e5a3d65d56400bd3b18bef87384 /filter-accela
parent3094ef1089e117ca22c2ac1acc94698d240d28fe (diff)
filter/accela: add commented out -180->180 delta logic
We can't use it (yet?) since the filter runs before any mapping is done.
Diffstat (limited to 'filter-accela')
-rw-r--r--filter-accela/ftnoir_filter_accela.cpp21
-rw-r--r--filter-accela/ftnoir_filter_accela.h3
2 files changed, 22 insertions, 2 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 5d779402..955e6dd6 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -19,6 +19,21 @@ accela::accela() : first_run(true)
s.make_splines(rot, trans);
}
+// can't use it since filtering's done before mapping
+#if 0
+double accela::get_delta(double val, double prev)
+{
+ using std::fabs;
+
+ const double a = fabs(val - prev), b = fabs(val + prev), c = fabs(val);
+ if (c < a && c < b)
+ return val;
+ if (b < a && b < c)
+ return val + prev;
+ return val - prev;
+}
+#endif
+
void accela::filter(const double* input, double *output)
{
if (first_run)
@@ -55,7 +70,11 @@ void accela::filter(const double* input, double *output)
const double in = smoothed_input[i];
+#if 0
+ const double vec_ = get_delta(in, last_output[i]);
+#else
const double vec_ = in - last_output[i];
+#endif
const double dz = i >= 3 ? rot_dz : trans_dz;
const double vec = std::max(0., fabs(vec_) - dz);
const double thres = i >= 3 ? rot_t : trans_t;
@@ -76,8 +95,6 @@ void accela::filter(const double* input, double *output)
}
}
-
-
void settings_accela::make_splines(spline& rot, spline& trans)
{
rot = spline();
diff --git a/filter-accela/ftnoir_filter_accela.h b/filter-accela/ftnoir_filter_accela.h
index 2557dafc..3c35b5e3 100644
--- a/filter-accela/ftnoir_filter_accela.h
+++ b/filter-accela/ftnoir_filter_accela.h
@@ -27,6 +27,9 @@ private:
double last_output[6];
double smoothed_input[6];
Timer t;
+#if 0
+ static double get_delta(double val, double prev);
+#endif
template <typename T>
static inline int signum(T x)