kopia lustrzana https://github.com/vsamy/DiFipp
128 wiersze
4.1 KiB
C++
128 wiersze
4.1 KiB
C++
// Copyright (c) 2019, Vincent SAMY
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// All rights reserved.
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of the AIST nor the
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// names of its contributors may be used to endorse or promote products
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// derived from this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
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// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <limits>
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namespace difi {
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// Public functions
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template <typename T>
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T GenericFilter<T>::stepFilter(const T& data)
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{
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Expects(m_isInitialized);
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// Slide data (can't use SIMD, but should be small)
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for (Eigen::Index i = m_rawData.size() - 1; i > 0; --i)
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m_rawData(i) = m_rawData(i - 1);
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for (Eigen::Index i = m_filteredData.size() - 1; i > 0; --i)
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m_filteredData(i) = m_filteredData(i - 1);
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m_rawData[0] = data;
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m_filteredData[0] = 0;
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m_filteredData[0] = m_bCoeff.dot(m_rawData) - m_aCoeff.dot(m_filteredData);
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return m_filteredData[0];
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}
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template <typename T>
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vectX_t<T> GenericFilter<T>::filter(const vectX_t<T>& data)
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{
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vectX_t<T> results(data.size());
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getFilterResults(results, data);
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return results;
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}
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template <typename T>
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void GenericFilter<T>::getFilterResults(Eigen::Ref<vectX_t<T>> results, const vectX_t<T>& data)
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{
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Expects(m_isInitialized);
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Expects(results.size() == data.size());
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for (Eigen::Index i = 0; i < data.size(); ++i)
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results(i) = stepFilter(data(i));
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}
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template <typename T>
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void GenericFilter<T>::resetFilter() noexcept
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{
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m_filteredData.setZero(m_aCoeff.size());
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m_rawData.setZero(m_bCoeff.size());
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}
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template <typename T>
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template <typename T2>
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void GenericFilter<T>::setCoeffs(T2&& aCoeff, T2&& bCoeff)
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{
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static_assert(std::is_convertible_v<T2, vectX_t<T>>, "The coefficients types should be convertible to vectX_t<T>");
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checkCoeffs(aCoeff, bCoeff);
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m_aCoeff = aCoeff;
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m_bCoeff = bCoeff;
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normalizeCoeffs();
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resetFilter();
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m_isInitialized = true;
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}
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template <typename T>
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void GenericFilter<T>::getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& 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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// Protected functions
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template <typename T>
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GenericFilter<T>::GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& 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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checkCoeffs(aCoeff, bCoeff);
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normalizeCoeffs();
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resetFilter();
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m_isInitialized = true;
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}
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template <typename T>
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void GenericFilter<T>::normalizeCoeffs()
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{
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T a0 = m_aCoeff(0);
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if (std::abs(a0 - T(1)) < std::numeric_limits<T>::epsilon())
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return;
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m_aCoeff /= a0;
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m_bCoeff /= a0;
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}
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template <typename T>
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void GenericFilter<T>::checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff)
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{
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Expects(aCoeff.size() > 0);
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Expects(std::abs(aCoeff[0]) > std::numeric_limits<T>::epsilon());
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Expects(bCoeff.size() > 0);
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}
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} // namespace difi
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