commit b5fe3e26e5791366c9b03180d66a320764401764
Author: Xavier Padullés <x padulles gmail com>
Date: Fri Jul 9 20:54:45 2021 +0200
Force sensor elastic accel smoothing window. WIP
src/forceSensorDynamics.cs | 31 +++++++++++++++++--------------
1 file changed, 17 insertions(+), 14 deletions(-)
---
diff --git a/src/forceSensorDynamics.cs b/src/forceSensorDynamics.cs
index 76b5c7de3..16e925360 100644
--- a/src/forceSensorDynamics.cs
+++ b/src/forceSensorDynamics.cs
@@ -554,20 +554,23 @@ public class ForceSensorDynamicsElastic : ForceSensorDynamics
private void calculeAccels()
{
- for (int i = 0 ; i < speed_l.Count; i ++)
- {
- int pre = i - 1;
- int post = i + 1;
-
- if(i == 0)
- pre = 0;
- else if(i == speed_l.Count -1)
- post = i;
-
- accel_l.Add( (speed_l[post] - speed_l[pre]) / (time_l[post] - time_l[pre]) );
- //LogB.Information(string.Format("i: {0}, accel_l[i]: {1}", i, accel_l[i]));
- }
-
+ int window = 10;
+ for (int i = 0 ; i < speed_l.Count; i ++)
+ {
+ LogB.Information(string.Format("ZZZ i: {0}, speed_l.Count: {1}", i, speed_l.Count));
+
+ int pre = i - window;
+ int post = i + window;
+
+ LogB.Information(string.Format("ZZZ A pre: {0}, post: {1}", pre, post));
+ if(pre <= 0)
+ pre = 0;
+ else if(post >= speed_l.Count -1)
+ post = speed_l.Count -1;
+
+ LogB.Information(string.Format("ZZZ B pre: {0}, post: {1}", pre, post));
+ accel_l.Add( UtilAll.DivideSafe(speed_l[post] - speed_l[pre], time_l[post] -
time_l[pre]) );
+ }
accel_l = smoothVariable(accel_l);
}