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added butterworth filter \n added activity rec for baro using butter \n added moduel for walker with activity

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This commit is contained in:
toni
2016-09-09 17:16:10 +02:00
parent 34e29b70c9
commit 7baeecb3f9
8 changed files with 868 additions and 97 deletions
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2
tests/Tests.h
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@@ -6,7 +6,7 @@
#include <gtest/gtest.h>
static inline std::string getDataFile(const std::string& name) {
return "/mnt/data/workspaces/Indoor/tests/data/" + name;
return "/home/toni/Documents/programme/localization/Indoor/tests/data/" + name;
}

257
tests/math/filter/TestButter.cpp Normal file
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@@ -0,0 +1,257 @@
#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../math/filter/Butterworth.h"
#include "../../../misc/Time.h"
#include "../../../math/Interpolator.h"
#include"../../../sensors/pressure/ActivityButterPressure.h"
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementColorPoints.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
#include <random>
#include <sstream>
#include <fstream>
#include <string>
#include <vector>
TEST(Butterworth, offlineSinus) {
//input data
std::minstd_rand gen;
std::uniform_real_distribution<double> noise (-0.1, +0.1);
int size = 1100; //Fs
double* input = new double[size];
double* output = new double[size];
// 17.5hz sin signal with random noise [-0.1, 0.1]
for( int i=0; i < size; ++i ){
input[i] = sin(0.1 * i) + noise(gen);
}
//butterworth
Filter::ButterworthLP<double> butter(size,20,5);
butter.stepInitialization(0);
butter.filter(input, output, size, 0, true);
K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementLines linesInput;
K::GnuplotPlotElementLines linesOutput;
for(int i=0; i < size-1; ++i){
K::GnuplotPoint2 input_p1(i, input[i]);
K::GnuplotPoint2 input_p2(i+1, input[i+1]);
K::GnuplotPoint2 output_p1(i, output[i]);
K::GnuplotPoint2 output_p2(i+1, output[i+1]);
linesInput.addSegment(input_p1, input_p2);
linesOutput.addSegment(output_p1, output_p2);
}
linesOutput.setColorHex("#00FF00");
plot.add(&linesInput);
plot.add(&linesOutput);
gp.draw(plot);
gp.flush();
sleep(10);
}
TEST(Butterworth, onlineSinus) {
int size = 1100; //Fs
double* input = new double[size];
double* output = new double[size];
Filter::ButterworthLP<double> butter(size,20,5);
butter.stepInitialization(0);
//input data
std::minstd_rand gen;
std::uniform_real_distribution<double> noise (-0.1, +0.1);
// 17.5hz sin signal with random noise [-0.1, 0.1]
for( int i=0; i < size; ++i ){
input[i] = sin(0.1 * i) + noise(gen);
output[i] = butter.process(input[i]);
}
K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementLines linesInput;
K::GnuplotPlotElementLines linesOutput;
for(int i=0; i < size-1; ++i){
K::GnuplotPoint2 input_p1(i, input[i]);
K::GnuplotPoint2 input_p2(i+1, input[i+1]);
K::GnuplotPoint2 output_p1(i, output[i]);
K::GnuplotPoint2 output_p2(i+1, output[i+1]);
linesInput.addSegment(input_p1, input_p2);
linesOutput.addSegment(output_p1, output_p2);
}
linesOutput.setColorHex("#00FF00");
plot.add(&linesInput);
plot.add(&linesOutput);
gp.draw(plot);
gp.flush();
sleep(1);
}
TEST(Butterworth, offlineOctaveBaro) {
double* input = new double[100000];
double* output = new double[100000];
Interpolator<int, double> interp;
//read file
std::string line;
std::string filename = getDataFile("baro/logfile_UAH_R1_S4_baro.dat");
std::ifstream infile(filename);
int counter = 0;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
interp.add(ts, value);
while(interp.getMaxKey() > counter*20 ){
double interpValue = interp.get(counter*20);
input[counter] = interpValue;
//std::cout << counter*20 << " " << interpValue << " i" << std::endl;
++counter;
}
//std::cout << ts << " " << value << " r" << std::endl;
}
}
Filter::ButterworthLP<double> butter(50,0.2,2);
butter.filter(input, output, counter, 938.15, true);
K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementLines linesInput;
K::GnuplotPlotElementLines linesOutput;
for(int i=0; i < counter-1; ++i){
K::GnuplotPoint2 input_p1(i, input[i]);
K::GnuplotPoint2 input_p2(i+1, input[i+1]);
K::GnuplotPoint2 output_p1(i, output[i]);
K::GnuplotPoint2 output_p2(i+1, output[i+1]);
linesInput.addSegment(input_p1, input_p2);
linesOutput.addSegment(output_p1, output_p2);
}
linesOutput.setColorHex("#00FF00");
plot.add(&linesInput);
plot.add(&linesOutput);
gp.draw(plot);
gp.flush();
sleep(1);
}
TEST(Butterworth, onlineOctaveBaro) {
std::vector<double> input;
std::vector<double> output;
Interpolator<int, double> interp;
Filter::ButterworthLP<double> butter(50,0.02,2);
butter.stepInitialization(938.15);
//read file
std::string line;
std::string filename = getDataFile("baro/logfile_UAH_R1_S4_baro.dat");
std::ifstream infile(filename);
int counter = 1;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
interp.add(ts, value);
while(interp.getMaxKey() > counter*20 ){
double interpValue = interp.get(counter*20);
//std::cout << counter*20 << " " << interpValue << " i" << std::endl;
input.push_back(interpValue);
output.push_back(butter.process(interpValue));
++counter;
}
//std::cout << ts << " " << value << " r" << std::endl;
}
}
K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementLines linesInput;
K::GnuplotPlotElementLines linesOutput;
for(int i=0; i < input.size()-1; ++i){
K::GnuplotPoint2 input_p1(i, input[i]);
K::GnuplotPoint2 input_p2(i+1, input[i+1]);
K::GnuplotPoint2 output_p1(i, output[i]);
K::GnuplotPoint2 output_p2(i+1, output[i+1]);
linesInput.addSegment(input_p1, input_p2);
linesOutput.addSegment(output_p1, output_p2);
}
linesOutput.setColorHex("#00FF00");
plot.add(&linesInput);
plot.add(&linesOutput);
gp.draw(plot);
gp.flush();
sleep(1);
}
#endif

47
tests/sensors/pressure/TestBarometer.cpp
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@@ -4,6 +4,7 @@
#include "../../../sensors/pressure/RelativePressure.h"
#include "../../../sensors/pressure/PressureTendence.h"
#include "../../../sensors/pressure/ActivityButterPressure.h"
#include <random>
@@ -121,5 +122,51 @@ TEST(Barometer, LIVE_tendence2) {
}
TEST(Barometer, Activity) {
ActivityButterPressure act;
//read file
std::string line;
std::string filename = getDataFile("baro/logfile_UAH_R2_S3_baro.dat");
std::ifstream infile(filename);
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
ActivityButterPressure::Activity currentAct = act.add(Timestamp::fromMS(ts), BarometerData(value));
}
}
std::vector<float> sum = act.getSumHistory();
std::vector<float> interpolated = act.getInterpolatedHistory();
std::vector<float> raw = act.getSensorHistory();
std::vector<float> butter = act.getOutputHistory();
std::vector<ActivityButterPressure::History> actHist = act.getActHistory();
K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementLines rawLines;
for(int i=0; i < actHist.size()-1; ++i){
K::GnuplotPoint2 input_p1(actHist[i].ts.sec(), actHist[i].data.hPa);
K::GnuplotPoint2 input_p2(actHist[i+1].ts.sec(), actHist[i+1].data.hPa);
rawLines.addSegment(input_p1, input_p2);
}
plot.add(&rawLines);
gp.draw(plot);
gp.flush();
sleep(1);
}
#endif