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Ref T238, moved spline x,y,z ... values to interpolant

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* only interpolant needs those values
* encapsulated in struct PosArray
* Interpolant needs no reference to interpolator (anymore)
* const CInterpolatorPbh &pbh()
This commit is contained in:
Klaus Basan
2018-01-25 23:20:45 +01:00
parent 897a6f301f
commit 6d5509890b
4 changed files with 109 additions and 45 deletions
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12
src/blackmisc/simulation/interpolatorlinear.cpp
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@@ -35,6 +35,18 @@ namespace BlackMisc
{
namespace Simulation
{
CInterpolatorLinear::Interpolant::Interpolant(const CAircraftSituation &situation) :
m_situationsAvailable(1), m_oldSituation(situation),
m_pbh(0, situation, situation)
{}
CInterpolatorLinear::Interpolant::Interpolant(const CAircraftSituation &situation1, const CAircraftSituation &situation2, double timeFraction) :
m_situationsAvailable(2),
m_oldSituation(situation1), m_newSituation(situation2),
m_simulationTimeFraction(timeFraction),
m_pbh(m_simulationTimeFraction, situation1, situation2)
{}
CInterpolatorLinear::Interpolant CInterpolatorLinear::getInterpolant(qint64 currentTimeMsSinceEpoc,
const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints, CInterpolationStatus &status, CInterpolationLogger::SituationLog &log) const
{

9
src/blackmisc/simulation/interpolatorlinear.h
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@@ -43,10 +43,8 @@ namespace BlackMisc
public:
//! Constructor
//! @{
Interpolant(const Aviation::CAircraftSituation &situation) :
m_situationsAvailable(1), m_oldSituation(situation) {}
Interpolant(const Aviation::CAircraftSituation &situation1, const Aviation::CAircraftSituation &situation2, double time) :
m_situationsAvailable(2), m_oldSituation(situation1), m_newSituation(situation2), m_simulationTimeFraction(time) {}
Interpolant(const Aviation::CAircraftSituation &situation);
Interpolant(const Aviation::CAircraftSituation &situation1, const Aviation::CAircraftSituation &situation2, double timeFraction);
//! @}
//! Perform the interpolation
@@ -56,13 +54,14 @@ namespace BlackMisc
//! @}
//! Interpolator for pitch, bank, heading, groundspeed
CInterpolatorPbh pbh() const { return { m_simulationTimeFraction, m_oldSituation, m_newSituation }; }
const CInterpolatorPbh &pbh() const { return m_pbh; }
private:
int m_situationsAvailable = 0;
Aviation::CAircraftSituation m_oldSituation;
Aviation::CAircraftSituation m_newSituation;
double m_simulationTimeFraction = 0.0;
const CInterpolatorPbh m_pbh;
};
//! Get the interpolant for the given time point

87
src/blackmisc/simulation/interpolatorspline.cpp
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@@ -110,7 +110,7 @@ namespace BlackMisc
if (situationsNewer.isEmpty() || situationsOlder.size() < 2)
{
return { *this, 0 };
return m_interpolant;
}
std::array<CAircraftSituation, 3> s {{ *(situationsOlder.begin() + 1), *situationsOlder.begin(), *(situationsNewer.end() - 1) }};
@@ -125,9 +125,11 @@ namespace BlackMisc
if (!hints.getElevationPlane().isNull())
{
const CAltitude groundElevation = hints.getElevationPlane().getAltitude();
s[0].setGroundElevation(groundElevation);
s[1].setGroundElevation(groundElevation);
s[2].setGroundElevation(groundElevation);
// do not override existing values
s[0].setGroundElevationChecked(groundElevation);
s[1].setGroundElevationChecked(groundElevation);
s[2].setGroundElevationChecked(groundElevation);
}
const double a0 = s[0].getCorrectedAltitude(hints.getCGAboveGround()).value();
@@ -135,36 +137,36 @@ namespace BlackMisc
const double a2 = s[2].getCorrectedAltitude(hints.getCGAboveGround()).value();
const std::array<std::array<double, 3>, 3> normals {{ s[0].getPosition().normalVectorDouble(), s[1].getPosition().normalVectorDouble(), s[2].getPosition().normalVectorDouble() }};
x = {{ normals[0][0], normals[1][0], normals[2][0] }};
y = {{ normals[0][1], normals[1][1], normals[2][1] }};
z = {{ normals[0][2], normals[1][2], normals[2][2] }};
a = {{ a0, a1, a2 }};
t = {{ static_cast<double>(s[0].getAdjustedMSecsSinceEpoch()), static_cast<double>(s[1].getAdjustedMSecsSinceEpoch()), static_cast<double>(s[2].getAdjustedMSecsSinceEpoch()) }};
PosArray pa;
pa.x = {{ normals[0][0], normals[1][0], normals[2][0] }};
pa.y = {{ normals[0][1], normals[1][1], normals[2][1] }};
pa.z = {{ normals[0][2], normals[1][2], normals[2][2] }};
pa.a = {{ a0, a1, a2 }};
pa.t = {{ static_cast<double>(s[0].getAdjustedMSecsSinceEpoch()), static_cast<double>(s[1].getAdjustedMSecsSinceEpoch()), static_cast<double>(s[2].getAdjustedMSecsSinceEpoch()) }};
dx = getDerivatives(t, x);
dy = getDerivatives(t, y);
dz = getDerivatives(t, z);
da = getDerivatives(t, a);
pa.dx = getDerivatives(pa.t, pa.x);
pa.dy = getDerivatives(pa.t, pa.y);
pa.dz = getDerivatives(pa.t, pa.z);
pa.da = getDerivatives(pa.t, pa.a);
m_prevSampleTime = situationsOlder.begin()->getAdjustedMSecsSinceEpoch();
m_nextSampleTime = (situationsNewer.end() - 1)->getAdjustedMSecsSinceEpoch();
m_altitudeUnit = situationsOlder.begin()->getAltitude().getUnit();
m_pbh = { *situationsOlder.begin(), *(situationsNewer.end() - 1) };
m_interpolant = Interpolant(pa, situationsOlder.begin()->getAltitude().getUnit(), { *situationsOlder.begin(), *(situationsNewer.end() - 1) });
}
log.interpolator = 's';
log.oldSituation = m_pbh.getOldSituation();
log.newSituation = m_pbh.getNewSituation();
status.setInterpolated(true);
const double dt1 = static_cast<double>(currentTimeMsSinceEpoc - m_prevSampleTime);
const double dt2 = static_cast<double>(m_nextSampleTime - m_prevSampleTime);
const double timeFraction = dt1 / dt2;
log.interpolator = 's';
log.oldSituation = m_interpolant.pbh().getOldSituation();
log.newSituation = m_interpolant.pbh().getNewSituation();
log.deltaTimeMs = dt1;
log.deltaTimeFractionMs = dt2;
log.simulationTimeFraction = timeFraction;
m_pbh.setTimeFraction(timeFraction);
return { *this, currentTimeMsSinceEpoc };
status.setInterpolated(true);
m_interpolant.setTimes(currentTimeMsSinceEpoc, timeFraction);
return m_interpolant;
}
CCoordinateGeodetic CInterpolatorSpline::Interpolant::interpolatePosition(const CInterpolationAndRenderingSetup &setup, const CInterpolationHints &hints) const
@@ -172,9 +174,9 @@ namespace BlackMisc
Q_UNUSED(setup);
Q_UNUSED(hints);
const double newX = evalSplineInterval(currentTimeMsSinceEpoc, i.t[1], i.t[2], i.x[1], i.x[2], i.dx[1], i.dx[2]);
const double newY = evalSplineInterval(currentTimeMsSinceEpoc, i.t[1], i.t[2], i.y[1], i.y[2], i.dy[1], i.dy[2]);
const double newZ = evalSplineInterval(currentTimeMsSinceEpoc, i.t[1], i.t[2], i.z[1], i.z[2], i.dz[1], i.dz[2]);
const double newX = evalSplineInterval(m_currentTimeMsSinceEpoc, m_pa.t[1], m_pa.t[2], m_pa.x[1], m_pa.x[2], m_pa.dx[1], m_pa.dx[2]);
const double newY = evalSplineInterval(m_currentTimeMsSinceEpoc, m_pa.t[1], m_pa.t[2], m_pa.y[1], m_pa.y[2], m_pa.dy[1], m_pa.dy[2]);
const double newZ = evalSplineInterval(m_currentTimeMsSinceEpoc, m_pa.t[1], m_pa.t[2], m_pa.z[1], m_pa.z[2], m_pa.dz[1], m_pa.dz[2]);
CCoordinateGeodetic currentPosition;
currentPosition.setNormalVector(newX, newY, newZ);
@@ -186,9 +188,36 @@ namespace BlackMisc
Q_UNUSED(setup);
Q_UNUSED(hints);
const double newA = evalSplineInterval(currentTimeMsSinceEpoc, i.t[1], i.t[2], i.a[1], i.a[2], i.da[1], i.da[2]);
return CAltitude(newA, i.m_altitudeUnit);
const double newA = evalSplineInterval(m_currentTimeMsSinceEpoc, m_pa.t[1], m_pa.t[2], m_pa.a[1], m_pa.a[2], m_pa.da[1], m_pa.da[2]);
return CAltitude(newA, m_altitudeUnit);
}
}
}
void CInterpolatorSpline::Interpolant::setTimes(qint64 currentTimeMs, double timeFraction)
{
m_currentTimeMsSinceEpoc = currentTimeMs;
m_pbh.setTimeFraction(timeFraction);
}
void CInterpolatorSpline::PosArray::initToZero()
{
for (int i = 0; i < 3; i++)
{
x[i] = 0; y[i] = 0; z[i] = 0;
a[i] = 0; t[i] = 0;
dx[i] = 0; dy[i] = 0; dz[i] = 0;
da[i] = 0;
}
}
const CInterpolatorSpline::PosArray &CInterpolatorSpline::PosArray::zeroPosArray()
{
static const PosArray pa = []
{
PosArray p;
p.initToZero();
return p;
}();
return pa;
}
} // ns
} // ns

46
src/blackmisc/simulation/interpolatorspline.h
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@@ -30,16 +30,36 @@ namespace BlackMisc
public:
//! Constructor
CInterpolatorSpline(const BlackMisc::Aviation::CCallsign &callsign, QObject *parent = nullptr) :
CInterpolatorSpline(const Aviation::CCallsign &callsign, QObject *parent = nullptr) :
CInterpolator("CInterpolatorSpline", callsign, parent)
{}
//! Position arrays for interpolation
struct PosArray
{
//! Init all values to zero
void initToZero();
//! Zero initialized position array
static const PosArray &zeroPosArray();
//! 3 coordinates for spline interpolation
//! @{
std::array<double, 3> x, y, z, a, t, dx, dy, dz, da;
//! @}
};
//! Cubic function that performs the actual interpolation
class Interpolant
{
public:
//! Default
Interpolant() : m_pa(PosArray::zeroPosArray()) {}
//! Constructor
Interpolant(const CInterpolatorSpline &interpolator, qint64 time) : i(interpolator), currentTimeMsSinceEpoc(time) {}
Interpolant(
const PosArray &pa, const PhysicalQuantities::CLengthUnit &altitudeUnit, const CInterpolatorPbh &pbh) :
m_pa(pa), m_altitudeUnit(altitudeUnit), m_pbh(pbh) {}
//! Perform the interpolation
//! @{
@@ -48,26 +68,30 @@ namespace BlackMisc
//! @}
//! Interpolator for pitch, bank, heading, groundspeed
CInterpolatorPbh pbh() const { return i.m_pbh; }
const CInterpolatorPbh &pbh() const { return m_pbh; }
//! Set the time values
void setTimes(qint64 currentTimeMs, double timeFraction);
private:
const CInterpolatorSpline &i;
qint64 currentTimeMsSinceEpoc = 0;
PosArray m_pa;
PhysicalQuantities::CLengthUnit m_altitudeUnit;
CInterpolatorPbh m_pbh;
qint64 m_currentTimeMsSinceEpoc { 0 };
};
//! Strategy used by CInterpolator::getInterpolatedSituation
Interpolant getInterpolant(
qint64 currentTimeMsSinceEpoc, const CInterpolationAndRenderingSetup &setup,
qint64 currentTimeMsSinceEpoc,
const CInterpolationAndRenderingSetup &setup,
const CInterpolationHints &hints, CInterpolationStatus &status, CInterpolationLogger::SituationLog &log);
private:
qint64 m_prevSampleTime = 0;
qint64 m_nextSampleTime = 0;
PhysicalQuantities::CLengthUnit m_altitudeUnit;
std::array<double, 3> x, y, z, a, t, dx, dy, dz, da;
CInterpolatorPbh m_pbh;
Interpolant m_interpolant;
};
}
}
} // ns
} // ns
#endif