207 lines
4.4 KiB
C++
207 lines
4.4 KiB
C++
#ifndef STEPDETECTION_H
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#define STEPDETECTION_H
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#include "AccelerometerData.h"
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#include "../../data/Timestamp.h"
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#include <cmath>
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#include <vector>
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
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#include "../../Assertions.h"
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#include "../../math/MovingAverageTS.h"
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/**
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* simple step detection based on accelerometer magnitude.
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* magnitude > threshold? -> step!
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* block for several msec until detecting the next one
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*/
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class StepDetection {
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private:
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MovingAverageTS<float> avgLong;
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MovingAverageTS<float> avgShort;
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Timestamp blockUntil;
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bool waitForUp = false;
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const Timestamp blockTime = Timestamp::fromMS(250); // 150-250 looks good
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const float upperThreshold = +0.4*0.6f; // + is usually smaller than down (look at graphs)
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const float lowerThreshold = -1.5*0.6f; // the 0.8 is for testing!
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#ifdef WITH_DEBUG_PLOT
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K::Gnuplot gp;
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K::GnuplotPlot plot;
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K::GnuplotPlotElementLines lineDet;
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K::GnuplotPlotElementLines lineX;
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K::GnuplotPlotElementLines lineY;
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K::GnuplotPlotElementLines lineZ;
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Timestamp plotRef;
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int plotCnt = 0;
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#endif
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public:
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/** ctor */
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StepDetection() : avgLong(Timestamp::fromMS(500), 0), avgShort(Timestamp::fromMS(40), 0) {
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#ifdef WITH_DEBUG_PLOT
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plot.add(&lineX); lineX.getStroke().getColor().setHexStr("#ff0000");
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plot.add(&lineY); lineY.getStroke().getColor().setHexStr("#00ff00");
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plot.add(&lineZ); lineZ.getStroke().getColor().setHexStr("#0000ff");
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plot.add(&lineDet); lineDet.getStroke().getColor().setHexStr("#000000");
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#endif
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}
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/** does the given data indicate a step? */
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bool add(const Timestamp ts, const AccelerometerData& acc) {
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// update averages
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avgLong.add(ts, acc.magnitude());
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avgShort.add(ts, acc.magnitude());
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// difference between long-term-average (gravity) and very-short-time average
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const float delta = avgShort.get() - avgLong.get();
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bool step = false;
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if (blockUntil > ts) {return false;}
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// wait for a rising edge
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if (waitForUp && delta > upperThreshold) {
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blockUntil = ts + blockTime; // block some time
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waitForUp = false;
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}
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// wait for a falling edge
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if (!waitForUp && delta < lowerThreshold) {
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blockUntil = ts + blockTime; // block some time
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waitForUp = true;
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step = true;
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}
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#ifdef WITH_DEBUG_PLOT
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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//lines1.add( K::GnuplotPoint2((ts-ref).ms(), _delta) );
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lineX.add( K::GnuplotPoint2(tsPlot.ms(), acc.x) );
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lineY.add( K::GnuplotPoint2(tsPlot.ms(), acc.y) );
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lineZ.add( K::GnuplotPoint2(tsPlot.ms(), acc.z) );
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lineDet.add( K::GnuplotPoint2(tsPlot.ms(), delta) );
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if (++plotCnt % 25 == 0) {
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gp.draw(plot);
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gp.flush();
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//usleep(1000*25);
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}
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#endif
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return step;
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}
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//private:
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// /** low pass acc-magnitude */
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// float avg1 = 0;
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// /** even-more low-pass acc-magnitude */
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// float avg2 = 0;
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//private:
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// class Stepper {
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// private:
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// /** block for 300 ms after every step */
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// const Timestamp blockTime = Timestamp::fromMS(300);
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// /** the threshold for detecting a spike as step */
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// const float threshold = 0.30;
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// /** block until the given timestamp before detecting additional steps */
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// Timestamp blockUntil;
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// public:
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// /** is the given (relative!) magnitude (mag - ~9.81) a step? */
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// bool isStep(const Timestamp ts, const float mag) {
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// // still blocking
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// if (ts < blockUntil) {
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// return false;
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// }
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// // threshold reached? -> step!
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// if (mag > threshold) {
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// // block x milliseconds until detecting the next step
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// blockUntil = ts + blockTime;
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// // we have a step
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// return true;
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// }
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// // no step
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// return false;
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// }
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// };
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// Stepper stepper;
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//public:
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// /** does the given data indicate a step? */
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// bool add(const Timestamp ts, const AccelerometerData& acc) {
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// avg1 = avg1 * 0.91 + acc.magnitude() * 0.09; // short-time average [filtered steps]
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// avg2 = avg2 * 0.97 + acc.magnitude() * 0.03; // long-time average [gravity]
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// // average maginitude must be > 9.0 to be stable enough to proceed
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// if (avg2 > 9) {
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// // gravity-free magnitude
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// const float avg = avg1 - avg2;
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// // detect steps
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// return stepper.isStep(ts, avg);
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// } else {
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// return false;
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// }
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// }
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};
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#endif // STEPDETECTION_H
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