diff options
Diffstat (limited to 'filter-kalman/kalman.h')
| -rw-r--r-- | filter-kalman/kalman.h | 27 |
1 files changed, 24 insertions, 3 deletions
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h index 3bb5aad2..3c9466a5 100644 --- a/filter-kalman/kalman.h +++ b/filter-kalman/kalman.h @@ -96,10 +96,31 @@ struct settings : opts { static constexpr double process_sigma_pos = 0.5; static constexpr double process_simga_rot = 0.5; - static double map_slider_value(const slider_value &v) + static double map_slider_value(const slider_value &v_) { - //return std::pow(4., v * 5. - 4.) / 4. * 10.; // not so much difference, except that it is harder to adjust the min-max range. - return std::pow(10., v * 4. - 3.); + const double v = v_; +#if 0 + //return std::pow(10., v * 4. - 3.); +#else + constexpr int min_log10 = -3; + constexpr int max_log10 = 1; + constexpr int num_divisions = max_log10 - min_log10; + /* ascii art representation of slider + // ----- // ------// ------// ------- // 4 divisions + -3 - 2 -1 0 1 power of 10 + | | + | f + left_side_log10 + | + left_side_log10 + */ + const int k = v * num_divisions; // in which division are we?! + const double f = v * num_divisions - k; // where in the division are we?! + const double ff = f * 9. + 1.; + const double multiplier = int(ff * 10.) / 10.; + const int left_side_log10 = min_log10 + k; + const double val = std::pow(10., left_side_log10) * multiplier; + return val; +#endif } settings() : |