075d8bb633
added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
48 lines
1017 B
C++
48 lines
1017 B
C++
#ifndef ACCELEROMETERSENSORDUMMY_H
|
|
#define ACCELEROMETERSENSORDUMMY_H
|
|
|
|
#include "../AccelerometerSensor.h"
|
|
#include "RandomSensor.h"
|
|
#include <random>
|
|
|
|
class AccelerometerSensorDummy : public RandomSensor<AccelerometerData, AccelerometerSensor> {
|
|
|
|
private:
|
|
|
|
/** hidden ctor */
|
|
AccelerometerSensorDummy() : RandomSensor(Timestamp::fromMS(10)) {
|
|
;
|
|
}
|
|
|
|
public:
|
|
|
|
/** singleton access */
|
|
static AccelerometerSensorDummy& get() {
|
|
static AccelerometerSensorDummy acc;
|
|
return acc;
|
|
}
|
|
|
|
protected:
|
|
|
|
std::minstd_rand gen;
|
|
std::uniform_real_distribution<float> distNoise = std::uniform_real_distribution<float>(-0.5, +0.5);
|
|
|
|
AccelerometerData getRandomEntry() override {
|
|
|
|
const Timestamp ts = Timestamp::fromRunningTime();
|
|
const float Hz = 1.6;
|
|
const float intensity = 2.0;
|
|
|
|
const float x = distNoise(gen);
|
|
const float y = distNoise(gen);
|
|
const float z = 9.81 + std::sin(ts.sec()*2*M_PI*Hz) * intensity + distNoise(gen);
|
|
|
|
return AccelerometerData(x,y,z);
|
|
|
|
}
|
|
|
|
|
|
};
|
|
|
|
#endif // ACCELEROMETERSENSORDUMMY_H
|