kopia lustrzana https://github.com/vsamy/DiFipp
Working generic filter with tests.
Vincent Samy
rodzic
322b4e10db
commit
3c710edc1b
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@ -1,12 +1,14 @@
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# Version minimum
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cmake_minimum_required(VERSION 3)
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cmake_minimum_required(VERSION 2.8)
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include(cmake/base.cmake)
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include(cmake/eigen.cmake)
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include(cmake/msvc-specific.cmake)
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set(PROJECT_NAME fratio)
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set(PROJECT_DESCRIPTION "Filter using rational transfer function")
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set(PROJECT_URL "...")
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SET(PROJECT_DEBUG_POSTFIX "_d")
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#SET(CXX_DISABLE_WERROR True)
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set(DOXYGEN_USE_MATHJAX "NO")
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@ -16,9 +18,12 @@ set(CMAKE_CXX_STANDARD 14)
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setup_project()
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option(DISABLE_TESTS "Disable unit tests." OFF)
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# for MSVC
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if(MSVC)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /W1 /MP")
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set(CMAKE_MSVCIDE_RUN_PATH "\$(SolutionDir)/src/\$(Configuration)")
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endif()
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# Eigen
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@ -27,4 +32,9 @@ search_for_eigen()
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add_subdirectory(src)
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if(NOT ${DISABLE_TESTS})
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add_subdirectory(tests)
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endif()
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pkg_config_append_libs(${PROJECT_NAME})
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setup_project_finalize()
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@ -1,46 +1,44 @@
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#pragma once
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#include <Eigen/Core>
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#include <stddef.h>
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#include <vector>
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namespace msfc {
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namespace fratio {
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namespace filt {
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class GenericFilter {
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public:
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GenericFilter() = default;
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GenericFilter(size_t nData);
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GenericFilter(size_t nData, const std::vector<double>& aCoeff, const std::vector<double>& bCoeff);
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class GenericFilter {
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public:
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GenericFilter() = default;
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GenericFilter(size_t nData);
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GenericFilter(size_t nData, const std::vector<double>& aCoeff, const std::vector<double>& bCoeff);
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void setNData(size_t nData);
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void setCoeff(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff);
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void getCoeff(std::vector<double>& aCoeff, std::vector<double>& bCoeff) const noexcept;
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size_t aOrder() const noexcept { return m_aCoeff.size(); }
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size_t bOrder() const noexcept { return m_bCoeff.size(); }
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void setNData(size_t nData);
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void setCoeff(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff);
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void getCoeff(std::vector<double>& aCoeff, std::vector<double>& bCoeff) const noexcept;
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size_t filterOrder() const noexcept { return m_order; }
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// bool stepFilter(const Eigen::VectorXd& data);
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// https://stackoverflow.com/questions/50511549/meaning-of-rational-transfer-function-underlying-matlab-filter-or-scipy-signal-f
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double stepFilter(double data);
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std::vector<double> filter(const std::vector<double>& data);
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void resetFilter();
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// bool stepFilter(const Eigen::VectorXd& data);
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bool stepFilter(double data);
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// Eigen::VectorXd results() const noexcept;
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// std::vector<double> results() const noexcept { return m_filteredData; }
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// Eigen::VectorXd results() const noexcept;
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double results() const noexcept;
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private:
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void checkCoeffs(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff);
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void normalize();
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void shiftData();
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private:
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void normalize();
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void shiftData();
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protected:
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std::vector<double> m_aCoeff;
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std::vector<double> m_bCoeff;
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protected:
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size_t m_nACoeffFilteredData;
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size_t m_nBCoeffFilteredData;
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std::vector<double> m_aCoeff;
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std::vector<double> m_bCoeff;
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std::vector<double> m_filteredData;
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std::vector<double> m_rawData;
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// Eigen::MatrixXd m_filteredData;
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// Eigen::MatrixXd m_rawData;
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};
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std::vector<double> m_filteredData;
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std::vector<double> m_rawData;
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// Eigen::MatrixXd m_filteredData;
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// Eigen::MatrixXd m_rawData;
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};
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} // namespace filt
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} // namespace msfc
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} // namespace fratio
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@ -1,126 +1,106 @@
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#include "msfc/filter/GenericFilter.h"
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#include "msfc/logging.h"
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#include "GenericFilter.h"
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namespace msfc {
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#include <sstream>
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namespace filt {
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namespace fratio {
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GenericFilter::GenericFilter(size_t nData)
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// : m_filteredData(nData, order)
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// , m_rawData(nData, order)
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{
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}
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GenericFilter::GenericFilter(size_t nData)
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{
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}
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GenericFilter::GenericFilter(size_t nData, const std::vector<double>& aCoeff, const std::vector<double>& bCoeff)
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: m_aCoeff(aCoeff)
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, m_bCoeff(bCoeff)
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, m_filteredData(aCoeff.size())
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, m_rawData(bCoeff.size())
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{
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assert(aCoeff.size() > 0);
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assert(bCoeff.size() > 0);
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normalize();
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}
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GenericFilter::GenericFilter(size_t nData, const std::vector<double>& aCoeff, const std::vector<double>& bCoeff)
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: m_aCoeff(aCoeff)
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, m_bCoeff(bCoeff)
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, m_filteredData(aCoeff.size(), 0)
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, m_rawData(bCoeff.size(), 0)
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{
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checkCoeffs(aCoeff, bCoeff);
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normalize();
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}
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void GenericFilter::setNData(size_t nData)
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{
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// m_filteredData.resize(nData, m_filteredData.cols());
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// m_rawData.resize(nData, nData.cols());
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}
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void GenericFilter::setNData(size_t nData)
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{
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// m_filteredData.resize(nData, m_filteredData.cols());
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// m_rawData.resize(nData, nData.cols());
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}
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void GenericFilter::setCoeff(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff)
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{
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assert(aCoeff.size() > 0);
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assert(bCoeff.size() > 0);
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void GenericFilter::setCoeff(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff)
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{
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checkCoeffs(aCoeff, bCoeff);
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m_nACoeffFilteredData = 0;
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m_nBCoeffFilteredData = 0;
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m_aCoeff = aCoeff;
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m_bCoeff = bCoeff;
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m_filteredData.resize(aCoeff.size());
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m_rawData.resize(bCoeff.size());
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m_aCoeff = aCoeff;
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m_bCoeff = bCoeff;
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resetFilter();
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normalize();
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}
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normalize();
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}
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void GenericFilter::getCoeff(std::vector<double>& aCoeff, std::vector<double>& bCoeff) const noexcept
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{
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aCoeff = m_aCoeff;
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bCoeff = m_bCoeff;
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}
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void GenericFilter::getCoeff(std::vector<double>& aCoeff, std::vector<double>& bCoeff) const noexcept
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{
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aCoeff = m_aCoeff;
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bCoeff = m_bCoeff;
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}
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// bool GenericFilter::stepFilter(const Eigen::VectorXd& data)
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// {
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// if (m_filteredData.rows() != data.size()) {
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// LOG_ERROR("Bad data size. Expected vector of size " << m_filteredData.rows() << ", got a vector of size " << data.size());
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// return false;
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// }
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double GenericFilter::stepFilter(double data)
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{
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// Slide data
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for (auto rit1 = m_rawData.rbegin(), rit2 = m_rawData.rbegin() + 1; rit2 != m_rawData.rend(); ++rit1, ++rit2)
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*rit1 = *rit2;
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for (auto rit1 = m_filteredData.rbegin(), rit2 = m_filteredData.rbegin() + 1; rit2 != m_filteredData.rend(); ++rit1, ++rit2)
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*rit1 = *rit2;
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// if (m_nFilteredData == 0) {
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// m_rawData.row(0) = data;
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// m_filteredData.row(0).noalias() = m_bCoeff(0) * data;
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// ++m_nFilteredData;
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// } else if (m_nFilteredData < m_order) {
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// m_filteredData.row(m_nFilteredData).noalias() = m_bCoeff(0) * data;
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// for (size_t i = 1; i <= m_nFilteredData; ++i) {
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// m_filteredData.row(m_nFilteredData).noalias() += m_bCoeff(i) * m_rawData.row(i - 1);
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// }
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// ++m_nFilteredData;
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// }
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double filtData = 0.;
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m_rawData[0] = data;
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// if (m_nFilteredData >= m_order) {
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for (size_t k = 0; k < m_bCoeff.size(); ++k)
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filtData += m_bCoeff[k] * m_rawData[k];
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for (size_t k = 1; k < m_aCoeff.size(); ++k)
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filtData -= m_aCoeff[k] * m_filteredData[k];
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// } else {
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// for (size_t i = 0; i < m_nFilteredData; ++i) {
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// }
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m_filteredData[0] = filtData;
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// ++m_nFilteredData;
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// }
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// }
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return filtData;
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}
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// https://stackoverflow.com/questions/50511549/meaning-of-rational-transfer-function-underlying-matlab-filter-or-scipy-signal-f
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bool GenericFilter::stepFilter(double data)
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{
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double filtData;
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for (size_t i = 0; i < m_nBCoeffFilteredData; ++i)
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filtData += m_bCoeff[i] * m_rawData[m_nBCoeffFilteredData - i];
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for (size_t i = 1; i < m_nACoeffFilteredData; ++i)
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filtData -= m_aCoeff[i] * m_filteredData[m_nACoeffFilteredData - i];
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std::vector<double> GenericFilter::filter(const std::vector<double>& data)
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{
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std::vector<double> results;
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results.reserve(data.size());
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m_filteredData[m_nACoeffFilteredData] = filtData;
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m_rawData[m_nBCoeffFilteredData] = data;
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++m_nACoeffFilteredData;
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++m_nBCoeffFilteredData;
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for (double d : data)
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results.emplace_back(stepFilter(d));
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if (m_nACoeffFilteredData == m_filteredData.size()) {
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double* fd = m_filteredData.data();
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for (size_t i = 0; i < m_filteredData.size() - 1; ++i)
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*(fd) = *(++fd);
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return results;
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}
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--m_nACoeffFilteredData;
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}
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void GenericFilter::resetFilter()
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{
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m_filteredData.assign(m_aCoeff.size(), 0);
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m_rawData.assign(m_bCoeff.size(), 0);
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}
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if (m_nBCoeffFilteredData == m_rawData.size()) {
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double* rd = m_rawData.data();
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for (size_t i = 0; i < m_rawData.size() - 1; ++i)
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*(rd) = *(++rd);
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void GenericFilter::normalize()
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{
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double a0 = m_aCoeff.front();
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if (std::abs(a0) < 1e-6) // Divide by zero
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throw std::invalid_argument("By filtering value for coefficient a0. Should be superior to 1e-6");
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--m_nBCoeffFilteredData;
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}
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}
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for (double& a : m_aCoeff)
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a /= a0;
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for (double& b : m_bCoeff)
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b /= a0;
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}
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void GenericFilter::normalize()
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{
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double a0 = m_aCoeff.front();
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if (std::abs(a0) < 1e-6) // Divide by zero
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LOG_ERROR_AND_THROW(std::invalid_argument, "By filtering value for coefficient a0. Should be superior to 1e-6");
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void GenericFilter::checkCoeffs(const std::vector<double>& aCoeff, const std::vector<double>& bCoeff)
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{
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std::stringstream err;
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if (aCoeff.size() == 0)
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err << "The size of coefficient 'a' should greater than 0\n";
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if (bCoeff.size() == 0)
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err << "The size of coefficient 'b' should greater than 0\n";
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for (double& a : m_aCoeff)
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a /= a0;
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for (double& b : m_bCoeff)
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b /= a0;
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}
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if (err.str().size() > 0)
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throw std::runtime_error(err.str());
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}
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} // namespace filt
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} // namespace msfc
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} // namespace fratio
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@ -1,19 +1,25 @@
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include(${CMAKE_SOURCE_DIR}/cmake/boost.cmake)
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enable_testing()
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set(BOOST_COMPONENTS system unit_test_framework)
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set(BOOST_COMPONENTS unit_test_framework)
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search_for_boost()
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add_definitions(-DBOOST_TEST_DYN_LINK)
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include_directories(${Boost_INCLUDE_DIRS})
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include_directories(${CMAKE_SOURCE_DIR}/include)
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link_directories(${Boost_LIBRARY_DIR} ${Boost_LIBRARY_DIRS})
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macro(addTest testName)
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add_executable(${testName} ${testName}.cpp systems.h tools.h)
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if(NOT MSVC)
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target_link_libraries(${name} PUBLIC ${Boost_LIBRARIES})
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endif(MSVC)
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add_executable(${testName} ${testName}.cpp)
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if(MSVC)
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target_link_libraries(${testName} PUBLIC ${PROJECT_NAME})
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else()
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target_link_libraries(${testName} PUBLIC ${Boost_LIBRARIES} ${PROJECT_NAME})
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endif()
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add_test(${testName}Unit ${testName})
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# Adding a project configuration file (for MSVC only)
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GENERATE_MSVC_DOT_USER_FILE(${name})
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GENERATE_MSVC_DOT_USER_FILE(${testName})
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endmacro(addTest)
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addTest(FilterTest)
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@ -0,0 +1,61 @@
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// This file is part of copra.
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// copra is free software: you can redistribute it and/or
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// modify
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// it under the terms of the GNU Lesser General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// copra is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public License
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// along with copra. If not, see
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// <http://www.gnu.org/licenses/>.
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#define BOOST_TEST_MODULE FilterTest
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#include "GenericFilter.h"
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#include <Eigen/Core>
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#include <boost/test/unit_test.hpp>
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struct System1 {
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std::vector<double> data = { 1., 2., 3., 4. };
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std::vector<double> aCoeff = { 1., -0.99993717 };
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std::vector<double> bCoeff = { 0.99996859, -0.99996859 };
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std::vector<double> results = { 0.99996859, 1.999874351973491, 2.999717289867956, 3.999497407630634 };
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};
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BOOST_AUTO_TEST_CASE(FilterThrows)
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{
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BOOST_REQUIRE_THROW(fratio::GenericFilter(1, {}, { 1., 2. }), std::runtime_error);
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BOOST_REQUIRE_THROW(fratio::GenericFilter(1, { 1., 2. }, {}), std::runtime_error);
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BOOST_REQUIRE_THROW(fratio::GenericFilter(1, { 0. }, { 1. }), std::invalid_argument);
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auto gf = fratio::GenericFilter();
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BOOST_REQUIRE_THROW(gf.setCoeff({}, { 1., 2. }), std::runtime_error);
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BOOST_REQUIRE_THROW(gf.setCoeff({ 1., 2. }, {}), std::runtime_error);
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BOOST_REQUIRE_THROW(gf.setCoeff({ 0. }, { 1. }), std::invalid_argument);
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}
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BOOST_FIXTURE_TEST_CASE(SimpleSystem, System1)
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{
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auto gf = fratio::GenericFilter(1, aCoeff, bCoeff);
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BOOST_REQUIRE_EQUAL(aCoeff.size(), gf.aOrder());
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BOOST_REQUIRE_EQUAL(bCoeff.size(), gf.bOrder());
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std::vector<double> filteredData;
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for (double d : data)
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filteredData.push_back(gf.stepFilter(d));
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for (size_t i = 0; i < filteredData.size(); ++i)
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BOOST_CHECK_SMALL(std::abs(filteredData[i] - results[i]), 1e-14);
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gf.resetFilter();
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filteredData = gf.filter(data);
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for (size_t i = 0; i < filteredData.size(); ++i)
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BOOST_CHECK_SMALL(std::abs(filteredData[i] - results[i]), 1e-14);
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}
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