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