worked on grid-walker

started adding code for synthetic sensor simulation based on given paths

synthetic/SyntheticSteps.h

@@ -0,0 +1,67 @@
+#ifndef SYNTHETICSTEPS_H
+#define SYNTHETICSTEPS_H
+
+#include "../sensors/imu/AccelerometerData.h"
+#include "SyntheticWalker.h"
+#include "../math/distribution/Normal.h"
+
+/** fakes accelerometer-data based on synthetic walking data */
+class SyntheticSteps : SyntheticWalker::Listener {
+
+public:
+
+	class Listener {
+	public:
+		virtual void onSyntheticStepData(const Timestamp ts, const AccelerometerData acc) = 0;
+	};
+
+private:
+
+	/** the walker to listen to */
+	SyntheticWalker* walker;
+
+	/** the pedestrian's step-size (in meter) */
+	float stepSize_m = 0.7;
+
+	float lastStepAtDistance = 0;
+
+	Distribution::Normal<float> dX = Distribution::Normal<float>(0, 1);
+	Distribution::Normal<float> dY = Distribution::Normal<float>(0, 1);
+	Distribution::Normal<float> dZ = Distribution::Normal<float>(0, 1);
+
+	std::vector<Listener*> listeners;
+
+public:
+
+	/** ctor with the walker to follow */
+	SyntheticSteps(SyntheticWalker* walker) {
+		walker->addListener(this);
+	}
+
+	void addListener(Listener* l) {
+		this->listeners.push_back(l);
+	}
+
+protected:
+
+
+	void onWalk(const Timestamp walkedTime, float walkedDistance, const Point3 curPos) override {
+
+		const float nextStepAt = (lastStepAtDistance + stepSize_m);
+
+		const float x = dX.draw();
+		const float y = dY.draw();
+		const float z = dZ.draw();
+		AccelerometerData acc(x, y, z);
+
+		if (walkedDistance > nextStepAt) {
+			lastStepAtDistance = walkedDistance;
+		}
+
+		for (Listener* l : listeners) {l->onSyntheticStepData(walkedTime, acc);}
+
+	}
+
+};
+
+#endif // SYNTHETICSTEPS_H