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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"
static constexpr double rot_gains[][2] = {
{ 2.66, 110 },
{ 2.33, 80 },
{ 2, 50 },
{ 1.66, 30 },
{ 1.33, 15 },
{ 1, 5 },
{ .66, 1.4 },
{ .33, .4 },
{ 0, 0 },
{ -1, 0 }
};
static constexpr double trans_gains[][2] = {
{ 2, 400 },
{ 1.66, 120 },
{ 1.33, 40 },
{ 1, 10 },
{ .66, 2 },
{ .33, .6 },
{ 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++)
{
output[i] = input[i];
last_output[i] = input[i];
smoothed_input[i] = input[i];
}
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() * 1e-9;
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;
for (int i = 0; i < 6; i++)
{
Map& m = i >= 3 ? rot : trans;
const bool drop = std::isnan(input[i]) || std::isinf(input[i]);
const double f = drop ? last_output[i] : input[i];
smoothed_input[i] = smoothed_input[i] * (1.-alpha) + f * 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 val = m.getValue(vec_ / thres);
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;
const double ret = done ? in : result;
last_output[i] = output[i] = ret;
}
}
OPENTRACK_DECLARE_FILTER(FTNoIR_Filter, FilterControls, FTNoIR_FilterDll)
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