Convolution.cpp
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00001 // -*- C++ -*-
00002 
00011 #include "Convolution.h"
00012 #include <vector>
00013 
00014 Convolution::Convolution(double _dt, unsigned int _range) {
00015   integrator = Integrator();
00016   setup(_dt, _range);
00017 }
00018 
00019 Convolution::~Convolution(void) {
00020 }
00021 
00022 void Convolution::reset(void) {
00023   f_buffer.clear();
00024   g_buffer.clear();
00025   integrator.reset();
00026   buffer_size = 0;
00027   return;
00028 }
00029 
00030 void Convolution::setup(double _dt, unsigned int _range) {
00031   dt = _dt;
00032   range = _range;
00033   integrator.setup(_dt, 0); // integrator range is inf (if range of integrator > 0, integrator remove f(0)*g(t) first)
00034   reset();
00035   return;
00036 }
00037 
00038 void Convolution::update (double _f, double _g) {
00039   f_buffer.push_back(_f);
00040   g_buffer.push_back(_g);
00041   buffer_size++;
00042   if (range > 0 && buffer_size > range) { // restrict buffer size
00043     f_buffer.pop_front();
00044     g_buffer.pop_front();
00045     buffer_size--;
00046   }
00047   return;
00048 }
00049 
00050 double Convolution::calculate(void) {
00051   // calc f(x) * g(t-x) buffer
00052   std::vector<double> fg_buffer;
00053   for (int i = 0; i < buffer_size; i++) {
00054     fg_buffer.push_back(f_buffer[i] * g_buffer[(buffer_size -1) - i]);
00055   }
00056   // calc integration
00057   integrator.reset();
00058   for (int i = 0; i < buffer_size; i++) {
00059     integrator.update(fg_buffer[i]);
00060   }
00061   return integrator.calculate();
00062 }


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:54