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/* Copyright (c) 2012-2015 Stanislaw Halik
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "ftnoir_filter_accela.h"
#include <algorithm>
#include <cmath>
#include <QDebug>
#include <QMutexLocker>
#include "opentrack/plugin-api.hpp"
static constexpr double rot_gains[][2] = {
{ 6, 200 },
{ 2.66, 50 },
{ 1.66, 17 },
{ 1, 4 },
{ .5, .53 },
{ 0, 0 },
{ -1, 0 }
};
static constexpr double trans_gains[][2] = {
{ 2.33, 40 },
{ 1.66, 13 },
{ 1.33, 5 },
{ .66, 1 },
{ .33, .5 },
{ 0, 0 },
{ -1, 0 }
};
constexpr double settings_accela::mult_rot;
constexpr double settings_accela::mult_trans;
constexpr double settings_accela::mult_rot_dz;
constexpr double settings_accela::mult_trans_dz;
constexpr double settings_accela::mult_ewma;
FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
{
rot.setMaxInput(rot_gains[0][0]);
trans.setMaxInput(trans_gains[0][0]);
rot.setMaxOutput(rot_gains[0][1]);
trans.setMaxOutput(trans_gains[0][1]);
for (int i = 0; rot_gains[i][0] >= 0; i++)
{
rot.addPoint(QPointF(rot_gains[i][0], rot_gains[i][1]));
}
for (int i = 0; trans_gains[i][0] >= 0; i++)
{
trans.addPoint(QPointF(trans_gains[i][0], trans_gains[i][1]));
}
}
void FTNoIR_Filter::filter(const double* input, double *output)
{
if (first_run)
{
for (int i = 0; i < 6; i++)
{
const double f = input[i];
output[i] = f;
last_output[i] = f;
smoothed_input[i] = f;
}
first_run = false;
t.start();
return;
}
const double rot_t = (1+s.rot_threshold) * s.mult_rot;
const double trans_t = (1+s.trans_threshold) * s.mult_trans;
const double dt = t.elapsed_seconds();
t.start();
const double RC = s.mult_ewma * s.ewma / 1000.; // seconds
const double alpha = dt/(dt+RC);
const double rot_dz = s.rot_deadzone * s.mult_rot_dz;
const double trans_dz = s.trans_deadzone * s.mult_trans_dz;
const double rot_nl = static_cast<const slider_value&>(s.rot_nonlinearity).cur();
for (int i = 0; i < 6; i++)
{
spline& m = i >= 3 ? rot : trans;
smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha;
const double in = smoothed_input[i];
const double vec = in - last_output[i];
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;
const double out_ = vec_ / thres;
const double out = i >= 3 && std::fabs(rot_nl - 1) > 5e-3 && vec_ < s.max_rot_nl
? (std::pow(out_/s.max_rot_nl, rot_nl) * s.max_rot_nl)
: out_;
const double val = m.getValue(float(out));
last_output[i] = output[i] = last_output[i] + signum(vec) * dt * val;
}
}
OPENTRACK_DECLARE_FILTER(FTNoIR_Filter, FilterControls, FTNoIR_FilterDll)
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