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minor changes to grid walking

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This commit is contained in:
k-a-z-u
2017-12-13 16:37:51 +01:00
parent 1114331fd2
commit d48b0b8fd4
7 changed files with 41 additions and 24 deletions
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18
synthetic/SyntheticSteps.h
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@@ -34,7 +34,8 @@ private:
float lastStepAtDistance = 0;
Timestamp refStepPattern;
Interpolator<Timestamp, AccelerometerData> stepPattern;
Interpolator<Timestamp, AccelerometerData> stepPatternPlain;
Interpolator<Timestamp, AccelerometerData> stepPatternStair;
Distribution::Normal<float> dX = Distribution::Normal<float>(0, 0.2);
Distribution::Normal<float> dY = Distribution::Normal<float>(0, 0.3);
@@ -76,10 +77,16 @@ public:
// AccelerometerData acc(x,y,z);
// stepPattern.add(Timestamp::fromMS(i), acc);
// }
stepPattern.add(Timestamp::fromMS(0), AccelerometerData(0, 0, 0));
stepPattern.add(Timestamp::fromMS(250), AccelerometerData(0, 0.6, 3));
stepPattern.add(Timestamp::fromMS(350), AccelerometerData(0.5, -0.6, -1.8));
stepPattern.add(Timestamp::fromMS(450), AccelerometerData(0, 0, 0));
stepPatternPlain.add(Timestamp::fromMS(0), AccelerometerData(0, 0, 0));
stepPatternPlain.add(Timestamp::fromMS(250), AccelerometerData(0, 0.6, 3));
stepPatternPlain.add(Timestamp::fromMS(350), AccelerometerData(0.5, -0.6, -1.8));
stepPatternPlain.add(Timestamp::fromMS(450), AccelerometerData(0, 0, 0));
stepPatternStair.add(Timestamp::fromMS(0), AccelerometerData(0, 0, 0));
stepPatternStair.add(Timestamp::fromMS(200), AccelerometerData(0, 0.6, 4));
stepPatternStair.add(Timestamp::fromMS(300), AccelerometerData(0.5, -0.6, -3.5));
stepPatternStair.add(Timestamp::fromMS(350), AccelerometerData(0, 0, 0));
}
@@ -95,6 +102,7 @@ protected:
(void) curPos;
const float distAdd = (type == SyntheticWalker::Type::FLOOR) ? (dNextStep.draw()) : (dNextStepStair.draw());
const auto stepPattern = (type == SyntheticWalker::Type::FLOOR) ? (stepPatternPlain) : (stepPatternStair);
const float nextStepAt = lastStepAtDistance + distAdd;
// 1st, start with random noise on the accelerometer