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authorStanislaw Halik <sthalik@misaki.pl>2016-11-23 10:42:50 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-11-23 10:42:50 +0100
commit7f00e05847bb57796e7444a4a4cf5fdb4ab2b303 (patch)
treededd8aaa2dfef8437f82b7a7a115d63f9f415aa8
parent804034f05ead001b3871decd4ddc04de38b5f5c8 (diff)
filter/accela: simplify main loop
-rw-r--r--filter-accela/ftnoir_filter_accela.cpp31
1 files changed, 16 insertions, 15 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 4fec74b2..89698413 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -35,45 +35,46 @@ void accela::filter(const double* input, double *output)
return;
}
- const double rot_t = s.rot_sensitivity->cur();
- const double trans_t = s.trans_sensitivity->cur();
+#define cast(x) (static_cast<slider_value&&>((x)))
+
+ const double rot_t = cast(s.rot_sensitivity).cur();
+ const double trans_t = cast(s.trans_sensitivity).cur();
const double dt = t.elapsed_seconds();
t.start();
- const double RC = s.ewma->cur() / 1000.; // seconds
+ const double RC = cast(s.ewma).cur() / 1000.; // seconds
const double alpha = dt/(dt+RC);
- const double rot_dz = s.rot_deadzone->cur();
- const double trans_dz = s.trans_deadzone->cur();
- const slider_value rot_nl_ = s.rot_nonlinearity;
- const double rot_nl = rot_nl_.cur();
+ const double rot_dz = cast(s.rot_deadzone).cur();
+ const double trans_dz = cast(s.trans_deadzone).cur();
+ const slider_value nl = s.rot_nonlinearity;
for (int i = 0; i < 6; i++)
{
spline& m = i >= 3 ? rot : trans;
- smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha;
+ 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 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 vec = std::max(0., fabs(vec_) - dz);
const double thres = i >= 3 ? rot_t : trans_t;
- const double out_ = vec_ / thres;
+ const double out_ = vec / thres;
const double out = progn(
const bool should_apply_rot_nonlinearity =
i >= 3 &&
- std::fabs(rot_nl - 1) > 5e-3 &&
- vec_ < rot_nl_.max();
+ std::fabs(nl.cur() - 1) > 5e-3 &&
+ vec < nl.max();
if (should_apply_rot_nonlinearity)
- return std::pow(out_/rot_nl_.max(), rot_nl);
+ return std::pow(out_/nl.max(), nl.cur());
else
return out_;
);
const double val = double(m.getValue(out));
- last_output[i] = output[i] = last_output[i] + signum(vec) * dt * val;
+ last_output[i] = output[i] = last_output[i] + signum(vec_) * dt * val;
}
}