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Unwrapper_2pi.cpp@3:03e6c2a8a35a, 2018-10-17 (annotated)
- Committer:
- altb
- Date:
- Wed Oct 17 06:54:50 2018 +0000
- Revision:
- 3:03e6c2a8a35a
...;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| altb | 3:03e6c2a8a35a | 1 | /* |
| altb | 3:03e6c2a8a35a | 2 | */ |
| altb | 3:03e6c2a8a35a | 3 | |
| altb | 3:03e6c2a8a35a | 4 | #include "Unwrapper_2pi.h" |
| altb | 3:03e6c2a8a35a | 5 | #define pi 3.141592653589793 |
| altb | 3:03e6c2a8a35a | 6 | using namespace std; |
| altb | 3:03e6c2a8a35a | 7 | |
| altb | 3:03e6c2a8a35a | 8 | Unwrapper_2pi::Unwrapper_2pi(void) |
| altb | 3:03e6c2a8a35a | 9 | { |
| altb | 3:03e6c2a8a35a | 10 | last_value = 0.0; |
| altb | 3:03e6c2a8a35a | 11 | turns = 0; |
| altb | 3:03e6c2a8a35a | 12 | } |
| altb | 3:03e6c2a8a35a | 13 | |
| altb | 3:03e6c2a8a35a | 14 | Unwrapper_2pi::~Unwrapper_2pi() {} |
| altb | 3:03e6c2a8a35a | 15 | |
| altb | 3:03e6c2a8a35a | 16 | void Unwrapper_2pi::reset(void) |
| altb | 3:03e6c2a8a35a | 17 | { |
| altb | 3:03e6c2a8a35a | 18 | last_value = 0.0; |
| altb | 3:03e6c2a8a35a | 19 | turns = 0; |
| altb | 3:03e6c2a8a35a | 20 | } |
| altb | 3:03e6c2a8a35a | 21 | |
| altb | 3:03e6c2a8a35a | 22 | float Unwrapper_2pi::doStep(float in) |
| altb | 3:03e6c2a8a35a | 23 | { |
| altb | 3:03e6c2a8a35a | 24 | float temp = in + 2*pi*(float)turns; |
| altb | 3:03e6c2a8a35a | 25 | if((temp - last_value) > pi){ |
| altb | 3:03e6c2a8a35a | 26 | temp -= 2*pi; |
| altb | 3:03e6c2a8a35a | 27 | turns--; |
| altb | 3:03e6c2a8a35a | 28 | } |
| altb | 3:03e6c2a8a35a | 29 | else if((temp - last_value) < -pi){ |
| altb | 3:03e6c2a8a35a | 30 | temp += 2*pi; |
| altb | 3:03e6c2a8a35a | 31 | turns++; |
| altb | 3:03e6c2a8a35a | 32 | } |
| altb | 3:03e6c2a8a35a | 33 | last_value = temp; |
| altb | 3:03e6c2a8a35a | 34 | return (temp); |
| altb | 3:03e6c2a8a35a | 35 | } |