FrankE
716b004f3c
added new eval code for new walkers improved barometer (moving avg and median) floorplan-staircase-fixes disabled step-turn (now part of transition) added abs-orientation-reader (for testing) added beacons
63 lines
1.3 KiB
C++
Executable File
63 lines
1.3 KiB
C++
Executable File
#pragma once
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#include "circular.h"
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#include "BarometerObservation.h"
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#include "../reader/SensorReader.h"
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#include <sstream>
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#include <Indoor/math/MovingAVG.h>
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#include <Indoor/math/MovingMedian.h>
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//circular_buffer<double> measurementHistory(1000);
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class BarometerSensorReader{
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private:
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// NOTE: median or avg?
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MovingMedian<float> avg;
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MovingMedian<float> avgStart;
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// avg: lower size, median: bigger still fine
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static constexpr int avgSize = 10;
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static constexpr int startAvgSize = 10;
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public:
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BarometerSensorReader(): avg(avgSize), avgStart(startAvgSize) {
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;
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}
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BarometerObservation* readBarometer(const SensorEntry& se) {
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std::string tmp = se.data;
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BarometerObservation* obs = new BarometerObservation();
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// get the next hPa reading and average it
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avg.add(std::stof(tmp));
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// average the first few readings as reference
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if (avgStart.getNumUsed() < startAvgSize) {
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avgStart.add(std::stof(tmp));
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}
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// current average relative to the start-average
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obs->hpa = avg.get() - avgStart.get();
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// done
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return obs;
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}
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//TODO
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void readVerticalAcceleration(const SensorEntry& se){
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//Problem: Koordinatensystem LinearAcceleraton ist relativ zum Telefon und nicht zum
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//Weltkoordinatensystem. Brauchen die Beschleunigung nach Oben in Weltkoordinaten.
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}
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};
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