Application::Application(unsigned int width, unsigned int height, const std::string& title, unsigned int fps)
:window_(sf::VideoMode(width, height, 32), title),
hasFocus_(true),
state_(),
console_(){
window_.setFramerateLimit(fps);
try{
ResourcesIDs::readIDs();
}
catch (std::runtime_error& e){
std::cout << e.what() << std::endl;
}
std::unique_ptr<State> beginState(new TitleState(*this));
state_ = std::move(beginState);
}
void scenarioModelSignalProcessing(std::default_random_engine &gen)
{
const int N = 500; //Signals modeling
const float delta_z = 1;
float E_max = 200; //Max amplitude
float sigma = 200;
dmod::array1d background(N, 100);
dmod::array1d amplitude(N, 50);
dmod::array1d frequency(N);
amplitude = dmod::sum(amplitude, dmod::fixedGaussianAmplitude(E_max, sigma, N/2, N));
for (int i = 0; i < N; i++)
{
frequency[i] = 0.105 - 0.00015*i;
}
//Estimated signal
dmod::array1d phase = dmod::phaseFromFrequency(frequency, 0, delta_z);
dmod::array1d noise = dmod::createNormalNoise(0, 10, N, gen);
dmod::array1d signal = dmod::createSignal1D(background, amplitude, phase, noise);
printer::print_signal("MatlabScripts/out.txt", signal);
printer::print_states("MatlabScripts/data.txt", background, amplitude, frequency, phase);
std::cout << dmod::snr(signal, noise) << std::endl;
//Creation of EKF
Eigen::Vector4d beginState(100, 40, 0.17985, 0);
Eigen::Matrix4d Rw;
Rw << 0.1, 0, 0, 0,
0, 0.15, 0, 0,
0, 0, 0.0005, 0,
0, 0, 0, 0.002;
float Rn = 0.5;
EKF filter(beginState, Eigen::Matrix4d::Identity(), Rw, Rn);
std::vector<Eigen::Vector4d> states = filter.estimateAll(signal);
dmod::array1d restoredSignal = filter.getRestoredSignal(states);
printer::print_states("MatlabScripts/EKF_data.txt", states);
printer::print_Kalman_stdev("MatlabScripts/EKF_deviations.txt", states, signal, noise, background, amplitude, frequency, phase, restoredSignal);
}
void StateMachineMgr::beginInitState()
{
emit beginState();
}