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refs #863 Further decomposed interpolator into granularly replaceable strategy methods.

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This commit is contained in:
Mathew Sutcliffe
2017-02-04 18:34:07 +00:00
parent aad4cb5e88
commit 4cc5643340
4 changed files with 155 additions and 56 deletions
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101
src/blackmisc/simulation/interpolator.cpp
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@@ -51,12 +51,20 @@ namespace BlackMisc
// any data at all?
if (m_aircraftSituations.isEmpty()) { return {}; }
CAircraftSituation currentSituation = m_aircraftSituations.front();
// data, split situations by time
if (currentTimeMsSinceEpoc < 0) { currentTimeMsSinceEpoc = QDateTime::currentMSecsSinceEpoch(); }
// algorithm provided by derived class
CAircraftSituation currentSituation = derived()->getInterpolatedPosition(callsign, currentTimeMsSinceEpoc, setup, hints, status, log);
// interpolant function from derived class
auto interpolant = derived()->getInterpolant(currentTimeMsSinceEpoc, setup, hints, status, log);
// succeeded so far?
if (!status.didInterpolationSucceed()) { return currentSituation; }
// use derived interpolant function
currentSituation.setPosition(interpolant.interpolatePosition(setup, hints));
currentSituation.setAltitude(interpolant.interpolateAltitude(setup, hints));
// Update current position by hints' elevation
// * for XP provided by hints.getElevationProvider at current position
@@ -93,42 +101,11 @@ namespace BlackMisc
if (setup.isForcingFullInterpolation() || hints.isVtolAircraft() || status.hasChangedPosition())
{
// HINT: VTOL aircraft can change pitch/bank without changing position, planes cannot
// Interpolate heading: HDG = (HdgB - HdgA) * t + HdgA
const CHeading headingBegin = oldSituation.getHeading();
CHeading headingEnd = newSituation.getHeading();
if ((headingEnd - headingBegin).value(CAngleUnit::deg()) < -180)
{
headingEnd += CHeading(360, CHeading::Magnetic, CAngleUnit::deg());
}
if ((headingEnd - headingBegin).value(CAngleUnit::deg()) > 180)
{
headingEnd -= CHeading(360, CHeading::Magnetic, CAngleUnit::deg());
}
currentSituation.setHeading(CHeading((headingEnd - headingBegin)
* simulationTimeFraction
+ headingBegin,
headingBegin.getReferenceNorth()));
// Interpolate Pitch: Pitch = (PitchB - PitchA) * t + PitchA
const CAngle pitchBegin = oldSituation.getPitch();
const CAngle pitchEnd = newSituation.getPitch();
const CAngle pitch = (pitchEnd - pitchBegin) * simulationTimeFraction + pitchBegin;
currentSituation.setPitch(pitch);
// Interpolate bank: Bank = (BankB - BankA) * t + BankA
const CAngle bankBegin = oldSituation.getBank();
const CAngle bankEnd = newSituation.getBank();
const CAngle bank = (bankEnd - bankBegin) * simulationTimeFraction + bankBegin;
currentSituation.setBank(bank);
currentSituation.setGroundSpeed((newSituation.getGroundSpeed() - oldSituation.getGroundSpeed())
* simulationTimeFraction
+ oldSituation.getGroundSpeed());
const auto pbh = interpolant.pbh();
currentSituation.setHeading(pbh.getHeading());
currentSituation.setPitch(pbh.getPitch());
currentSituation.setBank(pbh.getBank());
currentSituation.setGroundSpeed(pbh.getGroundSpeed());
status.setChangedPosition(true);
}
status.setInterpolationSucceeded(true);
@@ -146,6 +123,54 @@ namespace BlackMisc
return currentSituation;
}
CHeading CInterpolatorPbh::getHeading() const
{
// HINT: VTOL aircraft can change pitch/bank without changing position, planes cannot
// Interpolate heading: HDG = (HdgB - HdgA) * t + HdgA
const CHeading headingBegin = oldSituation.getHeading();
CHeading headingEnd = newSituation.getHeading();
if ((headingEnd - headingBegin).value(CAngleUnit::deg()) < -180)
{
headingEnd += CHeading(360, CHeading::Magnetic, CAngleUnit::deg());
}
if ((headingEnd - headingBegin).value(CAngleUnit::deg()) > 180)
{
headingEnd -= CHeading(360, CHeading::Magnetic, CAngleUnit::deg());
}
return CHeading((headingEnd - headingBegin)
* simulationTimeFraction
+ headingBegin,
headingBegin.getReferenceNorth());
}
CAngle CInterpolatorPbh::getPitch() const
{
// Interpolate Pitch: Pitch = (PitchB - PitchA) * t + PitchA
const CAngle pitchBegin = oldSituation.getPitch();
const CAngle pitchEnd = newSituation.getPitch();
const CAngle pitch = (pitchEnd - pitchBegin) * simulationTimeFraction + pitchBegin;
return pitch;
}
CAngle CInterpolatorPbh::getBank() const
{
// Interpolate bank: Bank = (BankB - BankA) * t + BankA
const CAngle bankBegin = oldSituation.getBank();
const CAngle bankEnd = newSituation.getBank();
const CAngle bank = (bankEnd - bankBegin) * simulationTimeFraction + bankBegin;
return bank;
}
CSpeed CInterpolatorPbh::getGroundSpeed() const
{
return (newSituation.getGroundSpeed() - oldSituation.getGroundSpeed())
* simulationTimeFraction
+ oldSituation.getGroundSpeed();
}
template <typename Derived>
CAircraftParts CInterpolator<Derived>::getInterpolatedParts(const CCallsign &callsign, qint64 currentTimeMsSinceEpoch,
const CInterpolationAndRenderingSetup &setup, CPartsStatus &partsStatus, bool log) const

33
src/blackmisc/simulation/interpolator.h
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@@ -154,6 +154,39 @@ namespace BlackMisc
mutable QList<InterpolationLog> m_interpolationLogs; //!< logs of interpolation
};
//! Simple interpolator for pitch, bank, heading, groundspeed
class BLACKMISC_EXPORT CInterpolatorPbh
{
public:
//! Constructor
//! @{
CInterpolatorPbh()
{}
CInterpolatorPbh(const Aviation::CAircraftSituation &older, const Aviation::CAircraftSituation &newer) :
oldSituation(older), newSituation(newer)
{}
CInterpolatorPbh(double time, const Aviation::CAircraftSituation &older, const Aviation::CAircraftSituation &newer) :
simulationTimeFraction(time), oldSituation(older), newSituation(newer)
{}
//! @}
//! Getter
//! @{
Aviation::CHeading getHeading() const;
PhysicalQuantities::CAngle getPitch() const;
PhysicalQuantities::CAngle getBank() const;
PhysicalQuantities::CSpeed getGroundSpeed() const;
//! @}
//! Change time fraction
void setTimeFraction(double tf) { simulationTimeFraction = tf; }
private:
double simulationTimeFraction = 0.0;
Aviation::CAircraftSituation oldSituation;
Aviation::CAircraftSituation newSituation;
};
//! Status of interpolation
struct BLACKMISC_EXPORT CInterpolationStatus
{

42
src/blackmisc/simulation/interpolatorlinear.cpp
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@@ -11,7 +11,6 @@
#include "blackmisc/aviation/aircraftsituation.h"
#include "blackmisc/aviation/aircraftsituationlist.h"
#include "blackmisc/aviation/altitude.h"
#include "blackmisc/aviation/callsign.h"
#include "blackmisc/geo/coordinategeodetic.h"
#include "blackmisc/pq/length.h"
#include "blackmisc/pq/physicalquantity.h"
@@ -36,9 +35,12 @@ namespace BlackMisc
{
namespace Simulation
{
CAircraftSituation CInterpolatorLinear::getInterpolatedSituation(const CCallsign &callsign, qint64 currentTimeMsSinceEpoc,
CInterpolatorLinear::Interpolant CInterpolatorLinear::getInterpolant(qint64 currentTimeMsSinceEpoc,
const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints, CInterpolationStatus &status, InterpolationLog &log) const
{
Q_UNUSED(setup);
Q_UNUSED(hints);
// find the first situation not in the correct order, keep only the situations before that one
// any updates in wrong chronological order are discounted
const auto end = std::is_sorted_until(m_aircraftSituations.begin(), m_aircraftSituations.end(), [](auto && a, auto && b) { return b.getAdjustedMSecsSinceEpoch() < a.getAdjustedMSecsSinceEpoch(); });
@@ -112,32 +114,44 @@ namespace BlackMisc
currentSituation.setTimeOffsetMs(oldSituation.getTimeOffsetMs() + (newSituation.getTimeOffsetMs() - oldSituation.getTimeOffsetMs()) * simulationTimeFraction);
currentSituation.setMSecsSinceEpoch(oldSituation.getMSecsSinceEpoch() + deltaTimeFractionMs);
status.setChangedPosition(oldSituation.getPosition() != newSituation.getPosition() || oldSituation.getAltitude() != newSituation.getAltitude());
status.setInterpolationSucceeded(true);
log.oldSituation = oldSituation;
log.newSituation = newSituation;
return { oldSituation, newSituation, simulationTimeFraction };
}
CCoordinateGeodetic CInterpolatorLinear::Interpolant::interpolatePosition(const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints) const
{
Q_UNUSED(setup);
Q_UNUSED(hints);
const std::array<double, 3> oldVec(oldSituation.getPosition().normalVectorDouble());
const std::array<double, 3> newVec(newSituation.getPosition().normalVectorDouble());
// Interpolate position: pos = (posB - posA) * t + posA
CCoordinateGeodetic currentPosition;
currentPosition.setNormalVector((newVec[0] - oldVec[0]) * simulationTimeFraction + oldVec[0],
(newVec[1] - oldVec[1]) * simulationTimeFraction + oldVec[1],
(newVec[2] - oldVec[2]) * simulationTimeFraction + oldVec[2]);
return currentPosition;
}
currentSituation.setPosition(currentPosition);
CAltitude CInterpolatorLinear::Interpolant::interpolateAltitude(const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints) const
{
Q_UNUSED(setup);
Q_UNUSED(hints);
// Interpolate altitude: Alt = (AltB - AltA) * t + AltA
// avoid underflow below ground elevation by using getCorrectedAltitude
const CAltitude oldAlt(oldSituation.getCorrectedAltitude());
const CAltitude newAlt(newSituation.getCorrectedAltitude());
Q_ASSERT_X(oldAlt.getReferenceDatum() == CAltitude::MeanSeaLevel && oldAlt.getReferenceDatum() == newAlt.getReferenceDatum(), Q_FUNC_INFO, "mismatch in reference"); // otherwise no calculation is possible
currentSituation.setAltitude(CAltitude((newAlt - oldAlt)
* simulationTimeFraction
+ oldAlt,
oldAlt.getReferenceDatum()));
status.setChangedPosition(newVec != oldVec || oldAlt != newAlt);
status.setInterpolationSucceeded(true);
log.oldSituation = oldSituation;
log.newSituation = newSituation;
return currentSituation;
return CAltitude((newAlt - oldAlt)
* simulationTimeFraction
+ oldAlt,
oldAlt.getReferenceDatum());
}
} // namespace
} // namespace

35
src/blackmisc/simulation/interpolatorlinear.h
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@@ -36,10 +36,37 @@ namespace BlackMisc
CInterpolator("CInterpolatorLinear", parent)
{}
//! \copydoc IInterpolator::getInterpolatedSituation
BlackMisc::Aviation::CAircraftSituation getInterpolatedSituation(
const BlackMisc::Aviation::CCallsign &callsign, qint64 currentTimeSinceEpoc, const CInterpolationAndRenderingSetup &setup,
const BlackMisc::Simulation::CInterpolationHints &hints, CInterpolationStatus &status, InterpolationLog &log) const;
//! Linear function that performs the actual interpolation
class Interpolant
{
public:
//! Constructor
//! @{
Interpolant(const Aviation::CAircraftSituation &situation) :
situationsAvailable(1), oldSituation(situation) {}
Interpolant(const Aviation::CAircraftSituation &situation1, const Aviation::CAircraftSituation &situation2, double time) :
situationsAvailable(2), oldSituation(situation1), newSituation(situation2), simulationTimeFraction(time) {}
//! @}
//! Perform the interpolation
//! @{
Geo::CCoordinateGeodetic interpolatePosition(const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints) const;
Aviation::CAltitude interpolateAltitude(const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints) const;
//! @}
//! Interpolator for pitch, bank, heading, groundspeed
CInterpolatorPbh pbh() const { return { simulationTimeFraction, oldSituation, newSituation }; }
private:
int situationsAvailable = 0;
Aviation::CAircraftSituation oldSituation;
Aviation::CAircraftSituation newSituation;
double simulationTimeFraction = 0.0;
};
//! Get the interpolant for the given time point
Interpolant getInterpolant(qint64 currentTimeMsSinceEpoc, const CInterpolationAndRenderingSetup &setup,
const CInterpolationHints &hints, CInterpolationStatus &status, InterpolationLog &log) const;
//! Log category
static QString getLogCategory() { return "swift.interpolatorlinear"; }