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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/ftnoir_filter_accela.h"
#include <algorithm>
#include <cmath>
#include <QDebug>
#include <QMutexLocker>
#include "opentrack/plugin-api.hpp"
using namespace std;
FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
{
}
double FTNoIR_Filter::f(double val, const double gains[][2])
{
for (int i = 0; gains[i][0] >= 0; i++)
{
if (val >= gains[i][0])
{
return gains[i][1] * val;
}
}
return 0;
}
void FTNoIR_Filter::filter(const double* input, double *output)
{
if (first_run)
{
for (int i = 0; i < 6; i++)
{
output[i] = input[i];
last_output[i] = input[i];
smoothed_input[i] = input[i];
}
first_run = false;
t.start();
return;
}
static const double rot_gains[][2] = {
{ 6, 15 },
{ 5, 6 },
{ 4, 3 },
{ 3, 1.3 },
{ 2, .7 },
{ 1, .4 },
{ 0, .2 },
{ -1, 0 }
};
static const double trans_gains[][2] = {
{ 4, 8 },
{ 3, 4 },
{ 2, 2 },
{ 1, .5 },
{ 0, .1 },
{ -1, 0 }
};
const double rot_t = 10. * (1+s.rot_threshold) / 100.;
const double trans_t = 5. * (1+s.trans_threshold) / 100.;
const double dt = t.elapsed() * 1e-9;
t.start();
const double RC = 2 * s.ewma / 1000.; // seconds
const double alpha = dt/(dt+RC);
const double rot_dz = s.rot_deadzone * 2. / 100.;
const double trans_dz = s.trans_deadzone * 1. / 100.;
for (int i = 0; i < 6; i++)
{
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_ = max(0., fabs(vec) - dz);
const double thres = i >= 3 ? rot_t : trans_t;
const double val = f(vec_ / thres, i >= 3 ? rot_gains : trans_gains) * thres;
static Timer tr;
static double m = 0, n = 0;
if (i == 3)
{
m = max(vec_ / thres, m);
n = max(n, val * dt);
}
if (tr.elapsed_ms() > 1000)
{
tr.start();
qDebug() << "3" << m << n;
m = 0;
n = 0;
}
const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val;
const bool negp = vec < 0.;
const bool done = negp
? result <= in
: result >= in;
if (i == 3 && val > 0.1 && done)
qDebug() << "done";
const double ret = done ? in : result;
last_output[i] = output[i] = ret;
}
}
extern "C" OPENTRACK_EXPORT IFilter* GetConstructor()
{
return new FTNoIR_Filter;
}
extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
{
return new FTNoIR_FilterDll;
}
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