diff options
| -rw-r--r-- | ftnoir_filter_accela/ftnoir_filter_accela.cpp | 19 |
1 files changed, 16 insertions, 3 deletions
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index deb2678b..e9f60036 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -83,18 +83,31 @@ void FTNoIR_Filter::filter(const double* input, double *output) 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; + + double rot_dist = 0, trans_dist = 0; + + for (int i = 3; i < 6; i++) + { + smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha; + rot_dist += (last_output[i] - smoothed_input[i]) * (last_output[i] - smoothed_input[i]); + } + + for (int i = 0; i < 3; i++) + { + smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha; + trans_dist += (last_output[i] - smoothed_input[i]) * (last_output[i] - smoothed_input[i]); + } for (int i = 0; i < 6; i++) { Map& 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 bool use_dz = dz*dz > (i >= 3 ? rot_dist : trans_dist); + const double vec_ = use_dz ? 0. : 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; |