1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
|
#pragma once
#include "facetracknoir/timer.hpp"
#include <algorithm>
#include <cmath>
class lerp {
private:
static const constexpr double eps = 1e-2;
double last[2][6], cam[6], dt;
Timer t;
public:
lerp() :
last { {0,0,0,0,0,0}, {0,0,0,0,0,0} }, cam {0,0,0,0,0,0}, dt(1)
{
}
bool idempotentp(const double* input)
{
for (int i = 0; i < 6; i++)
{
double diff = fabs(cam[i] - input[i]);
if (diff > eps)
return false;
}
return true;
}
void write(const double* cam_, const double* input, double* output)
{
const double q = t.elapsed();
const double d = q/dt;
bool idem = idempotentp(cam_);
if (!idem)
{
dt = q;
t.start();
}
const double c = std::max(std::min(1.0, d), 0.0);
if (!idem)
for (int i = 0; i < 6; i++)
{
last[1][i] = last[0][i];
last[0][i] = input[i];
cam[i] = cam_[i];
}
for (int i = 0; i < 6; i++)
output[i] = last[1][i] + (last[0][i] - last[1][i]) * c;
}
void get_state(double* state)
{
for (int i = 0; i < 6; i++)
state[i] = last[0][i];
}
};
|
