Akifumi Takahashi / CubicSpline

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Fork of TRP105F_Spline by Akifumi Takahashi

CubicSpline.c@6:c4f36cee3ceb, 2016-05-20 (annotated)

Committer:
aktk
Date:
Fri May 20 14:28:42 2016 +0000
Revision:
6:c4f36cee3ceb
Parent:
4:8db89b731133
Child:
7:e032ddec6ed5
rename: _makeSpline |-> _makeModel

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aktk 3:75f50dbedf1b 1 #define DEBUG
aktk 3:75f50dbedf1b 2 #include "TRP105F_Spline.h"
aktk 4:8db89b731133 3 #include <cmath>
aktk 3:75f50dbedf1b 4
aktk 3:75f50dbedf1b 5 // To get voltage of TRP105F
aktk 3:75f50dbedf1b 6 AnalogIn g_Sensor_Voltage(p16);
aktk 3:75f50dbedf1b 7 // To get sample distance via seral com
aktk 3:75f50dbedf1b 8 Serial g_Serial_Signal(USBTX, USBRX);
aktk 3:75f50dbedf1b 9
aktk 3:75f50dbedf1b 10 LocalFileSystem local("local"); // マウントポイントを定義（ディレクトリパスになる）
aktk 3:75f50dbedf1b 11 // for debug
aktk 3:75f50dbedf1b 12 #ifdef DEBUG
aktk 3:75f50dbedf1b 13 DigitalOut led1(LED1);
aktk 3:75f50dbedf1b 14 DigitalOut led2(LED2);
aktk 3:75f50dbedf1b 15 DigitalOut led3(LED3);
aktk 3:75f50dbedf1b 16 DigitalOut led4(LED4);
aktk 3:75f50dbedf1b 17 #endif
aktk 3:75f50dbedf1b 18
aktk 4:8db89b731133 19 CubicSpline2d::CubicSpline2d()
aktk 3:75f50dbedf1b 20 :_Data_Input_Type(SYSTEM)
aktk 3:75f50dbedf1b 21 {
aktk 3:75f50dbedf1b 22 _Sample_Num = 5;
aktk 4:8db89b731133 23 _Sample_Set = (Vxyt *)malloc(_Sample_Num * sizeof(Vxyt));
aktk 4:8db89b731133 24 //_u_param = (double*)malloc(_Sample_Num * sizeof(double));
aktk 4:8db89b731133 25 for(int i = 0; i < _4; i++) {
aktk 4:8db89b731133 26 _C_x[i] = (double*)malloc((_Sample_Num - 1)* sizeof(double));
aktk 4:8db89b731133 27 _C_y[i] = (double*)malloc((_Sample_Num - 1) * sizeof(double));
aktk 4:8db89b731133 28 }
aktk 3:75f50dbedf1b 29 //calibrateSensor();
aktk 3:75f50dbedf1b 30 }
aktk 3:75f50dbedf1b 31
aktk 4:8db89b731133 32 CubicSpline2d::CubicSpline2d(
aktk 3:75f50dbedf1b 33 unsigned int arg_num
aktk 3:75f50dbedf1b 34 )
aktk 3:75f50dbedf1b 35 :_Data_Input_Type(SYSTEM)
aktk 3:75f50dbedf1b 36 {
aktk 3:75f50dbedf1b 37 _Sample_Num = arg_num;
aktk 4:8db89b731133 38 _Sample_Set = (Vxyt *)malloc(_Sample_Num * sizeof(Vxyt));
aktk 4:8db89b731133 39 //_u_param = (double*)malloc(_Sample_Num * sizeof(double));
aktk 4:8db89b731133 40 for(int i = 0; i < 4; i++) {
aktk 4:8db89b731133 41 _C_x[i] = (double*)malloc((_Sample_Num - 1) * sizeof(double));
aktk 4:8db89b731133 42 _C_y[i] = (double*)malloc((_Sample_Num - 1) * sizeof(double));
aktk 4:8db89b731133 43 }
aktk 3:75f50dbedf1b 44 //calibrateSensor();
aktk 3:75f50dbedf1b 45 }
aktk 3:75f50dbedf1b 46
aktk 4:8db89b731133 47 CubicSpline2d::CubicSpline2d(
aktk 3:75f50dbedf1b 48 unsigned int arg_num,
aktk 3:75f50dbedf1b 49 UseType arg_useType
aktk 3:75f50dbedf1b 50 )
aktk 3:75f50dbedf1b 51 :_useType(arg_useType)
aktk 3:75f50dbedf1b 52 {
aktk 3:75f50dbedf1b 53 _Sample_Num = arg_num;
aktk 4:8db89b731133 54 _Sample_Set = (Vxyt *)malloc(_Sample_Num * sizeof(Vxyt));
aktk 4:8db89b731133 55 //_u_param = (double*)malloc(_Sample_Num * sizeof(double));
aktk 4:8db89b731133 56 for(int i = 0; i < 4; i++) {
aktk 4:8db89b731133 57 _C_x[i] = (double*)malloc((_Sample_Num - 1) * sizeof(double));
aktk 4:8db89b731133 58 _C_y[i] = (double*)malloc((_Sample_Num - 1) * sizeof(double));
aktk 4:8db89b731133 59 }
aktk 3:75f50dbedf1b 60 //calibrateSensor();
aktk 3:75f50dbedf1b 61 }
aktk 3:75f50dbedf1b 62
aktk 4:8db89b731133 63 CubicSpline2d::~CubicSpline2d()
aktk 3:75f50dbedf1b 64 {
aktk 3:75f50dbedf1b 65 free(_Sample_Set);
aktk 4:8db89b731133 66 //free(_u_param);
aktk 4:8db89b731133 67 for(int i = 0; i < 4; i++) {
aktk 4:8db89b731133 68 free(_C_x[i]);
aktk 4:8db89b731133 69 free(_C_y[i]);
aktk 4:8db89b731133 70 }
aktk 3:75f50dbedf1b 71 }
aktk 3:75f50dbedf1b 72
aktk 4:8db89b731133 73 unsigned short CubicSpline2d::getDistance()
aktk 3:75f50dbedf1b 74 {
aktk 3:75f50dbedf1b 75 int idx;
aktk 3:75f50dbedf1b 76 unsigned short pv = 0;
aktk 3:75f50dbedf1b 77
aktk 3:75f50dbedf1b 78 // low-pass filter
aktk 3:75f50dbedf1b 79 for(int i = 0; i < 10; i++)
aktk 3:75f50dbedf1b 80 pv += g_Sensor_Voltage.read_u16() / 10;
aktk 3:75f50dbedf1b 81
aktk 3:75f50dbedf1b 82 idx = _getNearest(_LIDX, _RIDX, pv);
aktk 3:75f50dbedf1b 83
aktk 3:75f50dbedf1b 84 if (idx != 0xFFFF) // unless occuring error
aktk 3:75f50dbedf1b 85 return _Set[idx].dst;
aktk 3:75f50dbedf1b 86 else
aktk 3:75f50dbedf1b 87 return 0xFFFF;
aktk 3:75f50dbedf1b 88 }
aktk 3:75f50dbedf1b 89
aktk 3:75f50dbedf1b 90
aktk 4:8db89b731133 91 void CubicSpline2d::_sampleData()
aktk 3:75f50dbedf1b 92 {
aktk 3:75f50dbedf1b 93 int tmp;
aktk 3:75f50dbedf1b 94 char sig;
aktk 4:8db89b731133 95 Vxyt tmp_set;
aktk 3:75f50dbedf1b 96
aktk 3:75f50dbedf1b 97 // For evry set,
aktk 3:75f50dbedf1b 98 // 1, get dst data via serai com,
aktk 3:75f50dbedf1b 99 // 2, get vol data,
aktk 3:75f50dbedf1b 100 // and then do same for next index set.
aktk 3:75f50dbedf1b 101 for(int i = 0; i < _Sample_Num; i++) {
aktk 4:8db89b731133 102 if(_useType == AsDebug) {
aktk 4:8db89b731133 103 //
aktk 4:8db89b731133 104 // Recieve a Distance datus and store it into member
aktk 4:8db89b731133 105 //
aktk 4:8db89b731133 106 g_Serial_Signal.printf("X:");
aktk 4:8db89b731133 107 _Sample_Set[i].x = 0;
aktk 3:75f50dbedf1b 108 do {
aktk 3:75f50dbedf1b 109 sig = g_Serial_Signal.getc();
aktk 3:75f50dbedf1b 110 if('0' <= sig && sig <= '9') {
aktk 4:8db89b731133 111 _Sample_Set[i].x = 10 * _Sample_Set[i].x + sig - 48;
aktk 3:75f50dbedf1b 112 g_Serial_Signal.putc(char(sig));
aktk 3:75f50dbedf1b 113 } else if(sig == 0x08) {
aktk 4:8db89b731133 114 _Sample_Set[i].x = 0;
aktk 3:75f50dbedf1b 115 g_Serial_Signal.printf("[canseled!]");
aktk 3:75f50dbedf1b 116 g_Serial_Signal.putc('\n');
aktk 3:75f50dbedf1b 117 g_Serial_Signal.putc('>');
aktk 3:75f50dbedf1b 118 }
aktk 3:75f50dbedf1b 119 } while (!(sig == 0x0a || sig == 0x0d));
aktk 3:75f50dbedf1b 120 g_Serial_Signal.putc('\n');
aktk 4:8db89b731133 121 //
aktk 4:8db89b731133 122 // Recieve a Voltage datus and store it into member
aktk 4:8db89b731133 123 //
aktk 4:8db89b731133 124 // LOW PASS FILTERED
aktk 4:8db89b731133 125 // Get 10 data and store mean as a sample.
aktk 4:8db89b731133 126 // After get one original sample, system waits for 0.1 sec,
aktk 4:8db89b731133 127 // thus it takes 1 sec evry sampling.
aktk 4:8db89b731133 128 _Sample_Set[i].y = 0;
aktk 4:8db89b731133 129 for(int j = 0; j < 10; j++) {
aktk 4:8db89b731133 130 tmp_set.y = g_Sensor_Voltage.read();
aktk 4:8db89b731133 131 #ifdef DEBUG
aktk 4:8db89b731133 132 g_Serial_Signal.printf("%d,",tmp_set.y);
aktk 4:8db89b731133 133 #endif
aktk 4:8db89b731133 134 _Sample_Set[i].y += (tmp_set.y / 10);
aktk 4:8db89b731133 135 wait(0.1);
aktk 4:8db89b731133 136 }
aktk 4:8db89b731133 137 #ifdef DEBUG
aktk 4:8db89b731133 138 g_Serial_Signal.printf("(%d)\n",_Sample_Set[i].y);
aktk 4:8db89b731133 139 #endif
aktk 3:75f50dbedf1b 140 }
aktk 3:75f50dbedf1b 141
aktk 4:8db89b731133 142 // if the input data is over the bound, it is calibrated
aktk 4:8db89b731133 143 if (_Sample_Set[i].x < 0)
aktk 4:8db89b731133 144 _Sample_Set[i].x = 0;
aktk 3:75f50dbedf1b 145 }
aktk 3:75f50dbedf1b 146 //
aktk 4:8db89b731133 147 // Sort set data array in x-Ascending order
aktk 3:75f50dbedf1b 148 //
aktk 3:75f50dbedf1b 149 tmp = 0;
aktk 4:8db89b731133 150 for( int i = 0 ; i < _Sumple_Num; i++) {
aktk 4:8db89b731133 151 for(int j = _Sample_Num - 1; j < i+1 ; j++) {
aktk 4:8db89b731133 152 // use dst as index for dst range [2,20]
aktk 4:8db89b731133 153 if (_Sample_Set[i].x > _Sample_set[j].x) {
aktk 4:8db89b731133 154 tmp_set.x = _Sample_Set[i].x;
aktk 4:8db89b731133 155 tmp_set.y = _Sample_Set[i].y;
aktk 4:8db89b731133 156 _Sample_Set[i].x = _Sample_Set[j].x;
aktk 4:8db89b731133 157 _Sample_Set[i].y = _Sample_Set[j].y;
aktk 4:8db89b731133 158 _Sample_Set[j].x = tmp_set.x;
aktk 4:8db89b731133 159 _Sample_Set[j].y = tmp_set.y;
aktk 4:8db89b731133 160 }
aktk 4:8db89b731133 161 // if a same dst has been input, calcurate mean.
aktk 4:8db89b731133 162 else if (_Sample_Set[i].x == _Sample_set[j]) {
aktk 4:8db89b731133 163 tmp_set.y = (_Sample_Set[i].y + _Sample_Set[j].y)/2;
aktk 4:8db89b731133 164 _Sample_Set[i] = _Sample_Set[j] = tmp_set.y;
aktk 4:8db89b731133 165 tmp++;
aktk 4:8db89b731133 166 }
aktk 3:75f50dbedf1b 167 }
aktk 3:75f50dbedf1b 168 }
aktk 3:75f50dbedf1b 169 #ifdef DEBUG
aktk 4:8db89b731133 170 g_Serial_Signal.printf(" _Sample_num: %d\n", _Sample_Num );
aktk 4:8db89b731133 171 g_Serial_Signal.printf("-) tmp: %d\n", tmp );
aktk 3:75f50dbedf1b 172 #endif
aktk 3:75f50dbedf1b 173 // substruct tmp from number of sample.
aktk 3:75f50dbedf1b 174 _Sample_Num -= tmp;
aktk 3:75f50dbedf1b 175 #ifdef DEBUG
aktk 4:8db89b731133 176 g_Serial_Signal.printf("-----------------\n");
aktk 4:8db89b731133 177 g_Serial_Signal.printf(" _Sample_num: %d\n", _Sample_Num );
aktk 3:75f50dbedf1b 178 #endif
aktk 4:8db89b731133 179
aktk 4:8db89b731133 180 // generate t which is parameter related to x,y
aktk 4:8db89b731133 181 _Sample_Set[i].t = 0;
aktk 4:8db89b731133 182 for(int i = 1; i < _Sample_Num; i++)
aktk 4:8db89b731133 183 _Sample_Set[i].t =
aktk 4:8db89b731133 184 _Sample_Set[i-1]
aktk 4:8db89b731133 185 + sqrt(pow(_Sample_Set[i].x - _Sample_Set[i-1].x, 2)
aktk 4:8db89b731133 186 +pow(_Sample_Set[i].y - _Sample_Set[i-1].y, 2));
aktk 3:75f50dbedf1b 187 }
aktk 3:75f50dbedf1b 188
aktk 3:75f50dbedf1b 189 //
aktk 3:75f50dbedf1b 190 // Function to define _u_spline, specific constants of spline.
aktk 3:75f50dbedf1b 191 //
aktk 6:c4f36cee3ceb 192 void CubicSpline2d::_makeModel(double* arg_t, double* arg_ft, double* arg_C[4], unsigned int arg_num)
aktk 3:75f50dbedf1b 193 {
aktk 4:8db89b731133 194 // arg_t : t; parameter of x or y
aktk 4:8db89b731133 195 // arg_ft: f(t); cubic poliminal. Value:<=> x or y.
aktk 4:8db89b731133 196 // arg_C[i]: Ci; The parameter (set) that defines Spline Model Poliminal. Coefficient of t^i of f(t).
aktk 4:8db89b731133 197 // arg_num: j in [0,_Sample_Num-1]; The number of interval.
aktk 4:8db89b731133 198 // f(t)j = C3j*t^3 + C2j*t^2 + C1j*t + C0j
aktk 3:75f50dbedf1b 199 //
aktk 3:75f50dbedf1b 200 // N: max of index <=> (_Sample_Num - 1)
aktk 3:75f50dbedf1b 201 //
aktk 4:8db89b731133 202 // u[i] === d^2/dx^2(Spline f)[i]
aktk 3:75f50dbedf1b 203 // i:[0,N]
aktk 4:8db89b731133 204 // u[0] = u[N] = 0
aktk 4:8db89b731133 205 double *u = (double*)malloc((arg_num ) * sizeof(double));
aktk 3:75f50dbedf1b 206 //
aktk 3:75f50dbedf1b 207 // h[i] = x[i+1] - x[i]
aktk 3:75f50dbedf1b 208 // i:[0,N-1]; num of elm: N<=>_Sample_Num - 1
aktk 4:8db89b731133 209 double *h = (double*)malloc((arg_num - 1) * sizeof(double));
aktk 4:8db89b731133 210 //
aktk 3:75f50dbedf1b 211 // v[i] = 6*((y[i+2]-y[i+1])/h[i+1] + (y[i+1]-y[i])/h[i])
aktk 3:75f50dbedf1b 212 // i:[0,N-2]
aktk 4:8db89b731133 213 double *v = (double*)malloc((arg_num - 2) * sizeof(double));
aktk 4:8db89b731133 214 //
aktk 3:75f50dbedf1b 215 // temporary array whose num of elm equals v array
aktk 4:8db89b731133 216 double *w = (double*)malloc((arg_num - 2) * sizeof(double));
aktk 3:75f50dbedf1b 217 //
aktk 4:8db89b731133 218 // [ 2(h[0]+h[1]) , h[1] , O ] [u[1] ] [v[0] ]
aktk 4:8db89b731133 219 // [ h[1] , 2(h[1]+h[2]) , h[2] ] [u[2] ] [v[1] ]
aktk 4:8db89b731133 220 // [ ... ] * [... ] = [... ]
aktk 4:8db89b731133 221 // [ h[j] , 2(h[j]+h[j+1]) , h[j+1] ] [u[j+1]] [v[j] ]
aktk 4:8db89b731133 222 // [ ... ] [ ... ] [ ... ]
aktk 4:8db89b731133 223 // [ h[N-3] , 2(h[N-3]+h[N-2]), h[N-2] ] [u[j+1]] [v[j] ]
aktk 4:8db89b731133 224 // [ O h[N-2] , 2(h[N-2]+h[N-1]) ] [u[N-1]] [v[N-2]]
aktk 3:75f50dbedf1b 225 //
aktk 3:75f50dbedf1b 226 // For LU decomposition
aktk 4:8db89b731133 227 double *Upper = (double*)malloc((arg_num - 2) * sizeof(double));
aktk 4:8db89b731133 228 double *Lower = (double*)malloc((arg_num - 2) * sizeof(double));
aktk 3:75f50dbedf1b 229 #ifdef DEBUG
aktk 4:8db89b731133 230 _printOutData(arg_t, arg_ft, arg_num, "\nargment set\n");
aktk 3:75f50dbedf1b 231 #endif
aktk 4:8db89b731133 232 for(int i = 0; i < arg_num - 1; i++)
aktk 4:8db89b731133 233 h[i] = (double)(arg_t[i + 1] - arg_t[i]);
aktk 3:75f50dbedf1b 234
aktk 4:8db89b731133 235 for(int i = 0; i < arg_num - 2; i++)
aktk 3:75f50dbedf1b 236 v[i] = 6 * (
aktk 4:8db89b731133 237 ((double)(arg_ft[i + 2] - arg_ft[i + 1])) / h[i + 1]
aktk 3:75f50dbedf1b 238 -
aktk 4:8db89b731133 239 ((double)(arg_ft[i + 1] - arg_ft[i])) / h[i]
aktk 3:75f50dbedf1b 240 );
aktk 3:75f50dbedf1b 241
aktk 3:75f50dbedf1b 242 //
aktk 3:75f50dbedf1b 243 // LU decomposition
aktk 3:75f50dbedf1b 244 //
aktk 3:75f50dbedf1b 245 Upper[0] = 2 * (h[0] + h[1]);
aktk 3:75f50dbedf1b 246 Lower[0] = 0;
aktk 4:8db89b731133 247 for (int i = 1; i < arg_num - 2; i++) {
aktk 3:75f50dbedf1b 248 Lower[i] = h[i] / Upper[i - 1];
aktk 3:75f50dbedf1b 249 Upper[i] = 2 * (h[i] + h[i + 1]) - Lower[i] * h[i];
aktk 3:75f50dbedf1b 250 }
aktk 3:75f50dbedf1b 251
aktk 3:75f50dbedf1b 252
aktk 3:75f50dbedf1b 253 //
aktk 3:75f50dbedf1b 254 // forward substitution
aktk 3:75f50dbedf1b 255 //
aktk 3:75f50dbedf1b 256 w[0] = v[0];
aktk 4:8db89b731133 257 for (int i = 1; i < arg_num - 2; i ++) {
aktk 3:75f50dbedf1b 258 w[i] = v[i] - Lower[i] * w[i-1];
aktk 3:75f50dbedf1b 259 }
aktk 3:75f50dbedf1b 260
aktk 3:75f50dbedf1b 261 //
aktk 3:75f50dbedf1b 262 // backward substitution
aktk 3:75f50dbedf1b 263 //
aktk 4:8db89b731133 264 u[arg_num - 2] = w[arg_num - 3] / Upper[arg_num - 3];
aktk 4:8db89b731133 265 for(int i = arg_num - 3; i > 0; i--) {
aktk 4:8db89b731133 266 u[i] = (w[(i - 1)] - h[(i)] * u[(i) + 1]) / Upper[(i - 1)];
aktk 3:75f50dbedf1b 267 }
aktk 3:75f50dbedf1b 268
aktk 3:75f50dbedf1b 269 // _u_spline[i] === d^2/dx^2(Spline f)[i]
aktk 4:8db89b731133 270 u[0] = u[arg_num - 1] = 0.0;
aktk 3:75f50dbedf1b 271
aktk 3:75f50dbedf1b 272 #ifdef DEBUG
aktk 4:8db89b731133 273 _printOutData(h, arg_num - 1, "h");
aktk 4:8db89b731133 274 _printOutData(v, arg_num - 2, "v");
aktk 4:8db89b731133 275 _printOutData(w, arg_num - 2, "w");
aktk 4:8db89b731133 276 _printOutData(Upper, arg_num - 2, "Upper");
aktk 4:8db89b731133 277 _printOutData(Lower, arg_num - 2, "Lower");
aktk 4:8db89b731133 278 _printOutData(u, arg_num , "u");
aktk 3:75f50dbedf1b 279 #endif
aktk 4:8db89b731133 280
aktk 4:8db89b731133 281 for(int itv = 0; itv < arg_num - 1; itv++) {
aktk 4:8db89b731133 282 C[3][itv] = (u[itv + 1] - u[itv]) / 6.0 / (arg_t[itv + 1] - arg_t[itv]);
aktk 4:8db89b731133 283 C[2][itv] = (u[itv]) / 2.0;
aktk 4:8db89b731133 284 C[1][itv] = (arg_ft[itv + 1] - arg_ft[itv]) / (arg_t[itv + 1] - arg_t[itv])
aktk 4:8db89b731133 285 -
aktk 4:8db89b731133 286 (arg_t[itv + 1] - arg_t[itv]) * (u[itv + 1] + 2.0 * u[itv]) / 6.0;
aktk 4:8db89b731133 287 C[0][itv] = (arg_ft[itv]);
aktk 4:8db89b731133 288 }
aktk 3:75f50dbedf1b 289 free(h);
aktk 4:8db89b731133 290 free(u);
aktk 3:75f50dbedf1b 291 free(v);
aktk 3:75f50dbedf1b 292 free(w);
aktk 3:75f50dbedf1b 293 free(Upper);
aktk 3:75f50dbedf1b 294 free(Lower);
aktk 3:75f50dbedf1b 295 }
aktk 4:8db89b731133 296
aktk 3:75f50dbedf1b 297 //
aktk 3:75f50dbedf1b 298 // Function to return Voltage for distance.
aktk 3:75f50dbedf1b 299 //
aktk 4:8db89b731133 300 unsigned short CubicSpline2d:: _getSplineYof(
aktk 3:75f50dbedf1b 301 double arg_x // the argument is supposed as distance [mm]
aktk 3:75f50dbedf1b 302 )
aktk 3:75f50dbedf1b 303 {
aktk 3:75f50dbedf1b 304 double y; // voltage calculated by spline polynomial
aktk 3:75f50dbedf1b 305 double a,b,c,d; // which is specific constant of spline, and can be expressed with _u.
aktk 3:75f50dbedf1b 306 int itv = 0; // interval(section) of interpolation
aktk 3:75f50dbedf1b 307 // the number of interval is less 1 than the number of sample sets,
aktk 3:75f50dbedf1b 308 // which means the max number of interval is _Sample_num - 2.
aktk 3:75f50dbedf1b 309 if((double)(_Sample_Set[0].dst) <= arg_x) {
aktk 3:75f50dbedf1b 310 while (!((double)(_Sample_Set[itv].dst) <= arg_x && arg_x < (double)(_Sample_Set[itv + 1].dst))) {
aktk 3:75f50dbedf1b 311 itv++;
aktk 3:75f50dbedf1b 312 if(itv > _Sample_Num - 2) {
aktk 3:75f50dbedf1b 313 itv = _Sample_Num - 2;
aktk 3:75f50dbedf1b 314 break;
aktk 3:75f50dbedf1b 315 }
aktk 3:75f50dbedf1b 316 }
aktk 3:75f50dbedf1b 317 }
aktk 3:75f50dbedf1b 318 a = (double)(_u_spline[itv + 1] - _u_spline[itv]) / 6.0 / (double)(_Sample_Set[itv + 1].dst - _Sample_Set[itv].dst);
aktk 3:75f50dbedf1b 319 b = (double)(_u_spline[itv]) / 2.0;
aktk 3:75f50dbedf1b 320 c = (double)(_Sample_Set[itv + 1].vol - _Sample_Set[itv].vol) / (double)(_Sample_Set[itv + 1].dst - _Sample_Set[itv].dst)
aktk 3:75f50dbedf1b 321 -
aktk 3:75f50dbedf1b 322 (double)(_Sample_Set[itv + 1].dst - _Sample_Set[itv].dst) * (double)(_u_spline[itv + 1] + 2.0 * _u_spline[itv]) / 6.0;
aktk 3:75f50dbedf1b 323 d = (double)(_Sample_Set[itv].vol);
aktk 3:75f50dbedf1b 324 // cubic spline expression
aktk 3:75f50dbedf1b 325 y = a * (arg_x - (double)(_Sample_Set[itv].dst)) * (arg_x - (double)(_Sample_Set[itv].dst)) * (arg_x - (double)(_Sample_Set[itv].dst))
aktk 3:75f50dbedf1b 326 +
aktk 3:75f50dbedf1b 327 b * (arg_x - (double)(_Sample_Set[itv].dst)) * (arg_x - (double)(_Sample_Set[itv].dst))
aktk 3:75f50dbedf1b 328 +
aktk 3:75f50dbedf1b 329 c * (arg_x - (double)(_Sample_Set[itv].dst))
aktk 3:75f50dbedf1b 330 +
aktk 3:75f50dbedf1b 331 d;
aktk 3:75f50dbedf1b 332
aktk 3:75f50dbedf1b 333 #ifdef DEBUG2
aktk 3:75f50dbedf1b 334 g_Serial_Signal.printf("%f(interval: %d)", arg_x, itv);
aktk 3:75f50dbedf1b 335 g_Serial_Signal.printf("a:%f, b:%f, c:%f, d:%f, ", a,b,c,d);
aktk 3:75f50dbedf1b 336 g_Serial_Signal.printf("(y:%f -> %d)\n", y, (unsigned short)y);
aktk 3:75f50dbedf1b 337 #endif
aktk 3:75f50dbedf1b 338
aktk 3:75f50dbedf1b 339 return ((unsigned short)(int)y);
aktk 3:75f50dbedf1b 340 }
aktk 3:75f50dbedf1b 341
aktk 4:8db89b731133 342 void CubicSpline2d::calibrateSensor()
aktk 3:75f50dbedf1b 343 {
aktk 3:75f50dbedf1b 344 _sampleData();
aktk 3:75f50dbedf1b 345 _makeSpline();
aktk 3:75f50dbedf1b 346
aktk 3:75f50dbedf1b 347 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 348 _Set[i].dst = i;
aktk 3:75f50dbedf1b 349 _Set[i].vol = _getSplineYof((double)(_Set[i].dst));
aktk 3:75f50dbedf1b 350 _Threshold[i] = _getSplineYof((double)(_Set[i].dst) + 0.5);
aktk 3:75f50dbedf1b 351 #ifdef DEBUG2
aktk 3:75f50dbedf1b 352 g_Serial_Signal.printf("(get...threashold:%d)\n", _Threshold[i]);
aktk 3:75f50dbedf1b 353 #endif
aktk 3:75f50dbedf1b 354 }
aktk 3:75f50dbedf1b 355 }
aktk 3:75f50dbedf1b 356
aktk 4:8db89b731133 357 void CubicSpline2d::saveSetting()
aktk 3:75f50dbedf1b 358 {
aktk 3:75f50dbedf1b 359 FILE *fp;
aktk 3:75f50dbedf1b 360
aktk 3:75f50dbedf1b 361 fp = fopen("/local/savedata.log", "wb");
aktk 3:75f50dbedf1b 362
aktk 3:75f50dbedf1b 363 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 364 fwrite(&_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 365 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 366 fwrite(&_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 367 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 368 fwrite(&_Threshold[i], sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 369 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 370 }
aktk 3:75f50dbedf1b 371 fwrite(&_Sample_Num, sizeof(int), 1, fp);
aktk 3:75f50dbedf1b 372 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 373 for(int i = 0; i < _Sample_Num; i++) {
aktk 3:75f50dbedf1b 374 fwrite(&_Sample_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 375 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 376 fwrite(&_Sample_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 377 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 378 }
aktk 3:75f50dbedf1b 379 fclose(fp);
aktk 3:75f50dbedf1b 380
aktk 3:75f50dbedf1b 381 }
aktk 3:75f50dbedf1b 382
aktk 4:8db89b731133 383 void CubicSpline2d::printThresholds()
aktk 3:75f50dbedf1b 384 {
aktk 3:75f50dbedf1b 385 for(int i = 0; i < _ENUM; i++)
aktk 3:75f50dbedf1b 386 g_Serial_Signal.printf("Threshold[%d]%d\n",i,_Threshold[i]);
aktk 3:75f50dbedf1b 387 }
aktk 4:8db89b731133 388 void CubicSpline2d::loadSetting()
aktk 3:75f50dbedf1b 389 {
aktk 3:75f50dbedf1b 390 FILE *fp;
aktk 3:75f50dbedf1b 391 char tmp;
aktk 3:75f50dbedf1b 392
aktk 3:75f50dbedf1b 393 //sprintf(filepath, "/local/%s", filename);
aktk 3:75f50dbedf1b 394 //fp = fopen(filepath, "rb");
aktk 3:75f50dbedf1b 395 fp = fopen("/local/savedata.log", "rb");
aktk 3:75f50dbedf1b 396 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 397
aktk 3:75f50dbedf1b 398 fread(&_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 399 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 400 #ifdef DEBUG2
aktk 3:75f50dbedf1b 401 g_Serial_Signal.printf("%d%c", _Set[i].dst, tmp);
aktk 3:75f50dbedf1b 402 #endif
aktk 3:75f50dbedf1b 403
aktk 3:75f50dbedf1b 404 fread(&_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 405 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 406 #ifdef DEBUG2
aktk 3:75f50dbedf1b 407 g_Serial_Signal.printf("%d%c", _Set[i].vol, tmp);
aktk 3:75f50dbedf1b 408 #endif
aktk 3:75f50dbedf1b 409
aktk 3:75f50dbedf1b 410 fread(&_Threshold[i], sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 411 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 412 #ifdef DEBUG2
aktk 3:75f50dbedf1b 413 g_Serial_Signal.printf("%d%c\n",_Threshold[i], tmp);
aktk 3:75f50dbedf1b 414 #endif
aktk 3:75f50dbedf1b 415 }
aktk 3:75f50dbedf1b 416
aktk 3:75f50dbedf1b 417 fread(&_Sample_Num, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 418 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 419
aktk 3:75f50dbedf1b 420 for(int i = 0; i < _Sample_Num; i++) {
aktk 3:75f50dbedf1b 421 fread(&_Sample_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 422 fread(&tmp, sizeof(char),1,fp);
aktk 3:75f50dbedf1b 423 fread(&_Sample_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 424 fread(&tmp, sizeof(char),1,fp);
aktk 3:75f50dbedf1b 425 }
aktk 3:75f50dbedf1b 426 fclose(fp);
aktk 3:75f50dbedf1b 427 }
aktk 3:75f50dbedf1b 428
aktk 3:75f50dbedf1b 429
aktk 4:8db89b731133 430 void CubicSpline2d::saveSetting(
aktk 3:75f50dbedf1b 431 const char *filename
aktk 3:75f50dbedf1b 432 )
aktk 3:75f50dbedf1b 433 {
aktk 3:75f50dbedf1b 434 FILE *fp;
aktk 3:75f50dbedf1b 435 char *filepath;
aktk 3:75f50dbedf1b 436 int fnnum = 0;
aktk 3:75f50dbedf1b 437
aktk 3:75f50dbedf1b 438 while (filename[fnnum] != 0) fnnum++;
aktk 3:75f50dbedf1b 439 filepath = (char *)malloc((fnnum + 8) * sizeof(char)); // "/local/" are 7 char and \0 is 1 char.
aktk 3:75f50dbedf1b 440
aktk 3:75f50dbedf1b 441 sprintf(filepath, "/local/%s", filename);
aktk 3:75f50dbedf1b 442 fp = fopen(filepath, "wb");
aktk 3:75f50dbedf1b 443
aktk 3:75f50dbedf1b 444 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 445 fwrite(&_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 446 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 447 fwrite(&_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 448 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 449 fwrite(&_Threshold[i], sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 450 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 451 }
aktk 3:75f50dbedf1b 452 fwrite(&_Sample_Num, sizeof(int), 1, fp);
aktk 3:75f50dbedf1b 453 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 454 for(int i = 0; i < _Sample_Num; i++) {
aktk 3:75f50dbedf1b 455 fwrite(&_Sample_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 456 fputc(0x2c, fp);
aktk 3:75f50dbedf1b 457 fwrite(&_Sample_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 458 fputc(0x3b, fp);
aktk 3:75f50dbedf1b 459 }
aktk 3:75f50dbedf1b 460 fclose(fp);
aktk 3:75f50dbedf1b 461 free(filepath);
aktk 3:75f50dbedf1b 462 }
aktk 3:75f50dbedf1b 463
aktk 4:8db89b731133 464 void CubicSpline2d::loadSetting(
aktk 3:75f50dbedf1b 465 const char *filename
aktk 3:75f50dbedf1b 466 )
aktk 3:75f50dbedf1b 467 {
aktk 3:75f50dbedf1b 468 FILE *fp;
aktk 3:75f50dbedf1b 469 char *filepath;
aktk 3:75f50dbedf1b 470 char tmp;
aktk 3:75f50dbedf1b 471 int fnnum = 0;
aktk 3:75f50dbedf1b 472
aktk 3:75f50dbedf1b 473 while (filename[fnnum] != 0) fnnum++;
aktk 3:75f50dbedf1b 474 filepath = (char *)malloc((fnnum + 8) * sizeof(char)); // "/local/" are 7 char and \0 is 1 char.
aktk 3:75f50dbedf1b 475
aktk 3:75f50dbedf1b 476 sprintf(filepath, "/local/%s", filename);
aktk 3:75f50dbedf1b 477 fp = fopen(filepath, "rb");
aktk 3:75f50dbedf1b 478 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 479
aktk 3:75f50dbedf1b 480 fread(&_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 481 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 482 #ifdef DEBUG3
aktk 3:75f50dbedf1b 483 g_Serial_Signal.printf("%d%c", _Set[i].dst, tmp);
aktk 3:75f50dbedf1b 484 #endif
aktk 3:75f50dbedf1b 485
aktk 3:75f50dbedf1b 486 fread(&_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 487 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 488 #ifdef DEBUG3
aktk 3:75f50dbedf1b 489 g_Serial_Signal.printf("%d%c", _Set[i].vol, tmp);
aktk 3:75f50dbedf1b 490 #endif
aktk 3:75f50dbedf1b 491
aktk 3:75f50dbedf1b 492 fread(&_Threshold[i], sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 493 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 494 #ifdef DEBUG3
aktk 3:75f50dbedf1b 495 g_Serial_Signal.printf("%d%c\n",_Threshold[i], tmp);
aktk 3:75f50dbedf1b 496 #endif
aktk 3:75f50dbedf1b 497 }
aktk 3:75f50dbedf1b 498
aktk 3:75f50dbedf1b 499 fread(&_Sample_Num, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 500 fread(&tmp, sizeof(char), 1, fp);
aktk 3:75f50dbedf1b 501 #ifdef DEBUG3
aktk 3:75f50dbedf1b 502 g_Serial_Signal.printf("%d%c\n",_Sample_Num, tmp);
aktk 3:75f50dbedf1b 503 #endif
aktk 3:75f50dbedf1b 504
aktk 3:75f50dbedf1b 505 for(int i = 0; i < _Sample_Num; i++) {
aktk 3:75f50dbedf1b 506 fread(&_Sample_Set[i].dst, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 507 fread(&tmp, sizeof(char),1,fp);
aktk 3:75f50dbedf1b 508 #ifdef DEBUG3
aktk 3:75f50dbedf1b 509 g_Serial_Signal.printf("%d%c", _Sample_Set[i].dst, tmp);
aktk 3:75f50dbedf1b 510 #endif
aktk 3:75f50dbedf1b 511
aktk 3:75f50dbedf1b 512 fread(&_Sample_Set[i].vol, sizeof(unsigned short), 1, fp);
aktk 3:75f50dbedf1b 513 fread(&tmp, sizeof(char),1,fp);
aktk 3:75f50dbedf1b 514 #ifdef DEBUG3
aktk 3:75f50dbedf1b 515 g_Serial_Signal.printf("%d%c", _Sample_Set[i].vol, tmp);
aktk 3:75f50dbedf1b 516 #endif
aktk 3:75f50dbedf1b 517 }
aktk 3:75f50dbedf1b 518 fclose(fp);
aktk 3:75f50dbedf1b 519 free(filepath);
aktk 3:75f50dbedf1b 520 }
aktk 3:75f50dbedf1b 521
aktk 4:8db89b731133 522 void CubicSpline2d::printOutData()
aktk 3:75f50dbedf1b 523 {
aktk 3:75f50dbedf1b 524 FILE *fp;
aktk 3:75f50dbedf1b 525
aktk 3:75f50dbedf1b 526 fp = fopen("/local/log.txt", "w"); // open file in writing mode
aktk 3:75f50dbedf1b 527 fprintf(fp, "dst, vol,(threshold)\n");
aktk 3:75f50dbedf1b 528 for(int i = 0; i < _ENUM; i++) {
aktk 3:75f50dbedf1b 529 fprintf(fp, "%d,%d,(%d)\n", _Set[i].dst, _Set[i].vol, _Threshold[i]);
aktk 3:75f50dbedf1b 530 }
aktk 3:75f50dbedf1b 531 fprintf(fp, "\nSample:dst, vol\n");
aktk 3:75f50dbedf1b 532 for(int i = 0; i < _Sample_Num; i++) {
aktk 3:75f50dbedf1b 533 fprintf(fp, "%d,%d\n", _Sample_Set[i].dst, _Sample_Set[i].vol);
aktk 3:75f50dbedf1b 534 }
aktk 3:75f50dbedf1b 535 fclose(fp);
aktk 3:75f50dbedf1b 536
aktk 3:75f50dbedf1b 537 }
aktk 4:8db89b731133 538 void CubicSpline2d::_printOutData(unsigned short *arg, int num, char* name)
aktk 3:75f50dbedf1b 539 {
aktk 3:75f50dbedf1b 540 FILE *fp;
aktk 3:75f50dbedf1b 541 fp = fopen("/local/varlog.txt", "a"); // open file in add mode
aktk 3:75f50dbedf1b 542 fprintf(fp, "%10s\n", name);
aktk 3:75f50dbedf1b 543 for(int i = 0; i < num; i++) {
aktk 3:75f50dbedf1b 544 fprintf(fp, "%d, ", arg[i]);
aktk 3:75f50dbedf1b 545 }
aktk 3:75f50dbedf1b 546 fprintf(fp, "\n");
aktk 3:75f50dbedf1b 547 fclose(fp);
aktk 3:75f50dbedf1b 548 }
aktk 4:8db89b731133 549 void CubicSpline2d::_printOutData(double *arg, int num, char* name)
aktk 3:75f50dbedf1b 550 {
aktk 3:75f50dbedf1b 551 FILE *fp;
aktk 3:75f50dbedf1b 552
aktk 3:75f50dbedf1b 553 fp = fopen("/local/varlog.txt", "a"); // open file in add mode
aktk 3:75f50dbedf1b 554 fprintf(fp, "%10s\n", name);
aktk 3:75f50dbedf1b 555 for(int i = 0; i < num; i++) {
aktk 3:75f50dbedf1b 556 fprintf(fp, "%.2f, ", arg[i]);
aktk 3:75f50dbedf1b 557 }
aktk 3:75f50dbedf1b 558 fprintf(fp, "\n");
aktk 3:75f50dbedf1b 559 fclose(fp);
aktk 3:75f50dbedf1b 560 }
aktk 4:8db89b731133 561 void CubicSpline2d::_printOutDataCouple(double *arg1, double *arg2, int num, char* name)
aktk 4:8db89b731133 562 {
aktk 4:8db89b731133 563 FILE *fp;
aktk 4:8db89b731133 564
aktk 4:8db89b731133 565 fp = fopen("/local/varlog.txt", "a"); // open file in add mode
aktk 4:8db89b731133 566 fprintf(fp, "%10s\n", name);
aktk 4:8db89b731133 567 for(int i = 0; i < num; i++) {
aktk 4:8db89b731133 568 fprintf(fp, "(%.2f, %.2f)\n", arg1[i], arg2[i]);
aktk 4:8db89b731133 569 }
aktk 4:8db89b731133 570 fprintf(fp, "\n");
aktk 4:8db89b731133 571 fclose(fp);
aktk 4:8db89b731133 572 }
aktk 4:8db89b731133 573 void CubicSpline2d::_printOutData(Vxyt *arg, int num, char* name)
aktk 3:75f50dbedf1b 574 {
aktk 3:75f50dbedf1b 575 FILE *fp;
aktk 3:75f50dbedf1b 576
aktk 3:75f50dbedf1b 577 fp = fopen("/local/varlog.txt", "a"); // open file in add mode
aktk 3:75f50dbedf1b 578 fprintf(fp, "%10s\n", name);
aktk 3:75f50dbedf1b 579 for(int i = 0; i < num; i++) {
aktk 3:75f50dbedf1b 580 fprintf(fp, "%d, ", arg[i].vol);
aktk 3:75f50dbedf1b 581 }
aktk 3:75f50dbedf1b 582 fprintf(fp, "\n");
aktk 3:75f50dbedf1b 583 fclose(fp);
aktk 3:75f50dbedf1b 584 }