DerivationFilter.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "DerivationFilter.h"
#include <ArmarXCore/observers/exceptions/user/InvalidTypeException.h>
#include <iterator>
namespace armarx::filters
{
 
    DerivationFilter::DerivationFilter()
    {
        windowFilterSize = 2;
    }
 
    VariantBasePtr DerivationFilter::calculate(const Ice::Current& c) const
    {
        std::unique_lock lock(historyMutex);
        if (dataHistory.size() == 0)
        {
            return nullptr;
        }
 
        VariantTypeId type = dataHistory.begin()->second->getType();
        double diff = 0;
 
        double deriv = 0;
        for (auto it = std::next(dataHistory.begin()); it != dataHistory.end(); it++)
        {
            auto itPrev = std::prev(it);
            if (type == VariantType::Float)
            {
                diff = (it->second->getFloat() - itPrev->second->getFloat());
            }
            else if (type == VariantType::Double)
            {
                diff = (it->second->getDouble() - itPrev->second->getDouble());
            }
            else if (type == VariantType::Int)
            {
                diff = (it->second->getInt() - itPrev->second->getInt());
            }
            else if (type == VariantType::Long)
            {
                diff = (it->second->getLong() - itPrev->second->getLong());
            }
            double deltaT = it->first - itPrev->first;
            if (deltaT > 0)
            {
                deriv += diff / (deltaT * 0.000001);
            }
        }
 
        deriv /= dataHistory.size() - 1;
 
 
 
 
        if (type == VariantType::Float)
        {
            return new Variant((float)deriv);
        }
        else if (type == VariantType::Double)
        {
            return new Variant(deriv);
        }
        else if (type == VariantType::Int)
        {
            return new Variant((int)deriv);
        }
        else if (type == VariantType::Long)
        {
            return new Variant((long)deriv);
        }
 
        throw exceptions::user::UnsupportedTypeException(type);
    }
 
    ParameterTypeList DerivationFilter::getSupportedTypes(const Ice::Current& c) const
    {
        ParameterTypeList result;
        result.push_back(VariantType::Int);
        result.push_back(VariantType::Long);
        result.push_back(VariantType::Float);
        result.push_back(VariantType::Double);
        return result;
    }
 
    StringFloatDictionary DerivationFilter::getProperties(const Ice::Current& c) const
    {
        return StringFloatDictionary {{"minSampleTimeDelta", minSampleTimeDelta}, {"windowFilterSize", windowFilterSize}};
    }
 
    void DerivationFilter::setProperties(const StringFloatDictionary& newValues, const Ice::Current& c)
    {
        auto it = newValues.find("minSampleTimeDelta");
        if (it != newValues.end())
        {
            minSampleTimeDelta = it->second;
        }
        it = newValues.find("windowFilterSize");
        if (it != newValues.end())
        {
            windowFilterSize = it->second;
        }
    }
 
}