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ArInterpolation.cpp
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ArInterpolation.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program 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, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArInterpolation.h"
AREXPORT ArInterpolation::ArInterpolation(size_t numberOfReadings)
{
mySize = numberOfReadings;
myDataMutex.setLogName("ArInterpolation");
setAllowedMSForPrediction();
setAllowedPercentageForPrediction();
setLogPrediction();
}
AREXPORT ArInterpolation::~ArInterpolation()
{
}
AREXPORT bool ArInterpolation::addReading(ArTime timeOfReading,
ArPose position)
{
myDataMutex.lock();
if (myTimes.size() >= mySize)
{
myTimes.pop_back();
myPoses.pop_back();
}
myTimes.push_front(timeOfReading);
myPoses.push_front(position);
myDataMutex.unlock();
return true;
}
/**
@param timeStamp the time we are interested in
@param position the pose to set to the given position
@param mostRecent the most recent data in the interpolation relevant to this call... for a return of 1 this is the near side it interpolated between, for a return of 0 or 1 this is the most recent data in the interpolation.... this is only useful if the return is 1, 0, or -1, and is mostly for use with ArRobot::applyEncoderOffset
@return 1 its good interpolation, 0 its predicting, -1 its too far to
predict, -2 its too old, -3 there's not enough data to predict
**/
AREXPORT int ArInterpolation::getPose(
ArTime timeStamp, ArPose *position, ArPoseWithTime *mostRecent)
{
std::list<ArTime>::iterator tit;
std::list<ArPose>::iterator pit;
ArPose thisPose;
ArTime thisTime;
ArPose lastPose;
ArTime lastTime;
// MPL don't use nowtime, use the time stamp that was passed in...
// that was bad
//ArTime nowTime;
long total;
long toStamp;
double percentage;
ArPose retPose;
myDataMutex.lock();
// find the time we want
for (tit = myTimes.begin(), pit = myPoses.begin();
tit != myTimes.end() && pit != myPoses.end();
++tit, ++pit)
{
lastTime = thisTime;
lastPose = thisPose;
thisTime = (*tit);
thisPose = (*pit);
//printf("## %d %d %d b %d at %d after %d\n", timeStamp.getMSec(), thisTime.getMSec(), timeStamp.mSecSince(thisTime), timeStamp.isBefore(thisTime), timeStamp.isAt(thisTime), timeStamp.isAfter(thisTime));
//if (timeStamp.isBefore(thisTime) || timeStamp.isAt(thisTime))
if (!timeStamp.isAfter(thisTime))
{
//printf("Found one!\n");
break;
}
}
if (mostRecent != NULL)
{
mostRecent->setPose(thisPose);
mostRecent->setTime(thisTime);
}
// if we're at the end then it was too long ago
if (tit == myTimes.end() || pit == myPoses.end())
{
//printf("Too old\n");
myDataMutex.unlock();
return -2;
}
// this is for forecasting (for the brave)
if ((tit == myTimes.begin() || pit == myPoses.begin()) &&
!timeStamp.isAt((*tit)))
{
//printf("Too new %d %d\n", tit == myTimes.begin(), pit == myPoses.begin());
thisTime = (*tit);
thisPose = (*pit);
tit++;
pit++;
if (tit == myTimes.end() || pit == myPoses.end())
{
//printf("Not enough data\n");
myDataMutex.unlock();
return -3;
}
lastTime = (*tit);
lastPose = (*pit);
// MPL don't use nowtime, use the time stamp that was passed in...
//nowTime.setToNow();
total = thisTime.mSecSince(lastTime);
if (total == 0)
total = 100;
// MPL don't use nowtime, use the time stamp that was passed in...
//toStamp = nowTime.mSecSince(thisTime);
toStamp = timeStamp.mSecSince(thisTime);
percentage = (double)toStamp/(double)total;
//if (percentage > 50)
if (myAllowedPercentageForPrediction >= 0 &&
percentage * 100 > myAllowedPercentageForPrediction)
{
if (myLogPrediction)
ArLog::log(ArLog::Normal, "%s: returningPercentage Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100, myAllowedPercentageForPrediction);
myDataMutex.unlock();
return -1;
}
if (myAllowedMSForPrediction >= 0 &&
abs(toStamp) > myAllowedMSForPrediction)
{
if (myLogPrediction)
ArLog::log(ArLog::Normal, "%s: returningMS Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100, myAllowedMSForPrediction);
myDataMutex.unlock();
return -1;
}
if (myLogPrediction)
ArLog::log(ArLog::Normal, "%s: Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100,
myAllowedPercentageForPrediction);
retPose.setX(thisPose.getX() +
(thisPose.getX() - lastPose.getX()) * percentage);
retPose.setY(thisPose.getY() +
(thisPose.getY() - lastPose.getY()) * percentage);
retPose.setTh(ArMath::addAngle(thisPose.getTh(),
ArMath::subAngle(thisPose.getTh(),
lastPose.getTh())
* percentage));
if (retPose.findDistanceTo(thisPose) > 1000)
ArLog::log(ArLog::Normal, "%s: finaldist %.0f thislastdist %.0f Total time %d, to stamp %d, percentage %.2f", getName(),
retPose.findDistanceTo(thisPose), thisPose.findDistanceTo(lastPose), total, toStamp, percentage * 100);
*position = retPose;
myDataMutex.unlock();
return 0;
}
// this is the actual interpolation
//printf("Woo hoo!\n");
total = thisTime.mSecSince(lastTime);
toStamp = thisTime.mSecSince(timeStamp);
percentage = (double)toStamp/(double)total;
if (total == 0)
percentage = 0;
//if (total == 0)
//printf("Total time %d, to stamp %d, percentage %.2f\n", total, toStamp, percentage * 100);
retPose.setX(thisPose.getX() +
(lastPose.getX() - thisPose.getX()) * percentage);
retPose.setY(thisPose.getY() +
(lastPose.getY() - thisPose.getY()) * percentage);
retPose.setTh(ArMath::addAngle(thisPose.getTh(),
ArMath::subAngle(lastPose.getTh(),
thisPose.getTh())
* percentage));
/*
printf("original:");
thisPose.log();
printf("After:");
lastPose.log();
printf("ret:");
retPose.log();
*/
*position = retPose;
myDataMutex.unlock();
return 1;
}
AREXPORT size_t ArInterpolation::getNumberOfReadings(void) const
{
return mySize;
}
AREXPORT void ArInterpolation::setNumberOfReadings(size_t numberOfReadings)
{
myDataMutex.lock();
while (myTimes.size() > numberOfReadings)
{
myTimes.pop_back();
myPoses.pop_back();
}
mySize = numberOfReadings;
myDataMutex.unlock();
}
AREXPORT void ArInterpolation::reset(void)
{
myDataMutex.lock();
while (myTimes.size() > 0)
myTimes.pop_back();
while (myPoses.size() > 0)
myPoses.pop_back();
myDataMutex.unlock();
}
AREXPORT void ArInterpolation::setName(const char *name)
{
myDataMutex.lock();
myName = name;
std::string mutexLogName;
mutexLogName = myName;
mutexLogName += "::DataMutex";
myDataMutex.setLogName(mutexLogName.c_str());
myDataMutex.unlock();
}
AREXPORT const char * ArInterpolation::getName(void)
{
return myName.c_str();
}
AREXPORT void ArInterpolation::setAllowedMSForPrediction(int ms)
{
myDataMutex.lock();
myAllowedMSForPrediction = ms;
myDataMutex.unlock();
}
AREXPORT int ArInterpolation::getAllowedMSForPrediction(void)
{
int ret;
myDataMutex.lock();
ret = myAllowedMSForPrediction;
myDataMutex.unlock();
return ret;
}
AREXPORT void ArInterpolation::setAllowedPercentageForPrediction(int percentage)
{
myDataMutex.lock();
myAllowedPercentageForPrediction = percentage;
myDataMutex.unlock();
}
AREXPORT int ArInterpolation::getAllowedPercentageForPrediction(void)
{
int ret;
myDataMutex.lock();
ret = myAllowedPercentageForPrediction;
myDataMutex.unlock();
return ret;
}
AREXPORT void ArInterpolation::setLogPrediction(bool logPrediction)
{
myDataMutex.lock();
myLogPrediction = logPrediction;
myDataMutex.unlock();
}
AREXPORT bool ArInterpolation::getLogPrediction(void)
{
bool ret;
myDataMutex.lock();
ret = myLogPrediction;
myDataMutex.unlock();
return ret;
}