bool CalibrationData::saveSLCALIB(const QString& filename){
FILE * fp = fopen(qPrintable(filename), "w");
if (!fp)
return false;
fprintf(fp, "#V1.0 SLStudio calibration\n");
fprintf(fp, "#Calibration time: %s\n\n", calibrationDateTime.c_str());
fprintf(fp, "Kc\n%f %f %f\n%f %f %f\n%f %f %f\n\n", Kc(0,0), Kc(0,1), Kc(0,2), Kc(1,0), Kc(1,1), Kc(1,2), Kc(2,0), Kc(2,1), Kc(2,2));
fprintf(fp, "kc\n%f %f %f %f %f\n\n", kc(0), kc(1), kc(2), kc(3), kc(4));
fprintf(fp, "Kp\n%f %f %f\n%f %f %f\n%f %f %f\n\n", Kp(0,0), Kp(0,1), Kp(0,2), Kp(1,0), Kp(1,1), Kp(1,2), Kp(2,0), Kp(2,1), Kp(2,2));
fprintf(fp, "kp\n%f %f %f %f %f\n\n", kp(0), kp(1), kp(2), kp(3), kp(4));
fprintf(fp, "Rp\n%f %f %f\n%f %f %f\n%f %f %f\n\n", Rp(0,0), Rp(0,1), Rp(0,2), Rp(1,0), Rp(1,1), Rp(1,2), Rp(2,0), Rp(2,1), Rp(2,2));
fprintf(fp, "Tp\n%f %f %f\n\n", Tp(0), Tp(1), Tp(2));
fprintf(fp, "cam_error: %f\n\n", cam_error);
fprintf(fp, "proj_error: %f\n\n", proj_error);
fprintf(fp, "stereo_error: %f\n\n", stereo_error);
fclose(fp);
return true;
}
void gradient()
{
/* declaration of variables */
int i, indexF, iF, iR, iU, iDer, iL, iT, iT1;
/* counters */
float f; /* temporal frequency */
float w; /* radian frequency */
float u; /* slowness */
float cte; /* a constant */
float *buffer; /* auxiliary buffer */
complex dUCEp1, dUCEp2; /* dUC * epslon1 and dUC * epslon2 */
complex wCCte; /* auxiliar variable */
complex am; /* vertical P-wave slownesses */
complex amInv; /* 1. / am */
complex amI; /* amI = am * I */
complex bm; /* vertical S-wave slownesses */
complex bmInv; /* 1. / bm */
complex bmI; /* bmI = bm * I */
complex As1, As2; /* amplitudes of plane wave components (P)*/
complex Cs1, Cs2; /* amplitudes of plane wave components (S)*/
/* downgoing waves */
complex Bs1, Bs2; /* amplitudes of plane wave components (P)*/
complex Ds1, Ds2; /* amplitudes of plane wave components (S)*/
/* upgoing waves */
complex g[2]; /* phase-shift vector */
complex ***displ; /* Frechet derivative of the */
/* displacements in the frequency domain */
complex dpl; /* auxiliary variable */
/* allocating memory */
displ = alloc3complex(nSamples / 2 + 1, nR, numberPar * limRange);
buffer = alloc1float(nSamples);
/* auxiliar constant */
cte = 1. / (4 * PI * rho[0]);
/* reseting displ */
for (iDer = 0; iDer < numberPar * limRange; iDer++)
for (iR = 0; iR < nR; iR++)
for (iF = 0; iF < nSamples / 2 + 1; iF++)
displ[iDer][iR][iF] = zeroC;
for (indexF = NINT(f1 / dF), f = f1, iF = 0; iF < nF; iF++,
f += dF, indexF++)
{
fprintf(stderr,"FRECHET derivatives at frequency (Hz): %f\n", f);
/* reseting */
for (i = 0; i < numberPar * limRange; i++)
{
for (iR = 0; iR < nR; iR++)
{
aux11[i][iR] = zeroC; aux12[i][iR] = zeroC;
aux21[i][iR] = zeroC; aux22[i][iR] = zeroC;
aux11Old[i][iR] = zeroC; aux12Old[i][iR] = zeroC;
aux21Old[i][iR] = zeroC; aux22Old[i][iR] = zeroC;
}
}
w = 2 * PI * f;
wC.r = w; wC.i = -tau;
/* module and phase of complex frequency */
wCR = sqrt(wC.r * wC.r + wC.i * wC.i);
wCP = atan2(wC.i, wC.r);
/* complex slowness step */
dUC.r = w * dU / wCR;
dUC.i = tau * dU / wCR;
/* wCR / wR */
wCRwR = wCR / wR;
/* auxiliary variable */
wCCte.r = wC.r * cte;
wCCte.i = wC.i * cte;
/* compute frequency-dependent horizontal slownesses (squared) */
/* and also the s-wave VELOCITIES (squared) for all layers */
horSlownessFrechet();
for (u = u1, iU = 0; iU < nU; iU++,
u += dU, uC.r += dUC.r, uC.i += dUC.i)
{
uC.r = u;
uC.i = u * tau / wRef;
uC2.r = 2 * uC.r;
uC2.i = 2 * uC.i;
aux = uC.r * uC.r - uC.i * uC.i;
uuC.i = 2 * uC.r * uC.i;
uuC.r = aux;
uuC2.r = 2 * uuC.r;
uuC2.i = 2 * uuC.i;
muC.r = uC.r * -1;
muC.i = uC.i * -1;
/* building reflectivity matrices */
RmFrechet();
Rp();
/* reseting */
As1 = zeroC; As2 = zeroC; /* downgoing waves */
Cs1 = zeroC; Cs2 = zeroC; /* downgoing waves */
Bs1 = zeroC; Bs2 = zeroC; /* upgoing waves */
Ds1 = zeroC; Ds2 = zeroC; /* upgoing waves */
/* P-wave potential */
/* PSlowness^2 - uuC */
auxm1 = PSlowness[0][0].r - uuC.r;
auxm2 = PSlowness[0][0].i - uuC.i;
auxm3 = sqrt(auxm1 * auxm1 + auxm2 * auxm2);
auxm3 = sqrt(auxm3);
angle = atan2(auxm2, auxm1) / 2;
am.r = auxm3 * cos(angle);
am.i = auxm3 * sin(angle);
/* am * I */
amI.r = -am.i;
amI.i = am.r;
As1 = uC;
if (directWave) Bs1 = muC;
/* 1 / am */
aux = am.r * am.r + am.i * am.i;
amInv.r = am.r / aux;
amInv.i = -am.i / aux;
/* amInv * uuC */
aux2.r = amInv.r * uuC.r - uuC.i * amInv.i;
aux2.i = amInv.r * uuC.i + amInv.i * uuC.r;
/* aux2 * -I */
As2.r = aux2.i;
As2.i = -aux2.r;
/* notice that Bs2 = As2 */
if (directWave) Bs2 = As2;
/* S-wave potential */
/* SSlowness^2 - uuC */
auxm1 = SSlowness[0][0].r - uuC.r;
auxm2 = SSlowness[0][0].i - uuC.i;
/* computing bm */
auxm3 = sqrt(auxm1 * auxm1 + auxm2 * auxm2);
auxm3 = sqrt(auxm3);
angle = atan2(auxm2, auxm1) / 2;
bm.r = auxm3 * cos(angle);
bm.i = auxm3 * sin(angle);
/* bm * I */
bmI.r = -bm.i;
bmI.i = bm.r;
/* 1 / bm */
aux = bm.r * bm.r + bm.i * bm.i;
bmInv.r = bm.r / aux;
bmInv.i = -bm.i / aux;
/* 1. / bm * uuC */
aux1.r = bmInv.r * uuC.r - bmInv.i * uuC.i;
aux1.i = bmInv.r * uuC.i + bmInv.i * uuC.r;
/* notice that Cs1 = Ds1 */
Cs1 = aux1;
if (directWave) Ds1 = aux1;
Cs2.r = -uC.i;
Cs2.i = uC.r;
if (directWave)
{
Ds2.r = -Cs2.r;
Ds2.i = -Cs2.i;
}
/* computing compensation for free-surface */
buildFreeSurfaceCompensation(am, bm);
/* computing phase shift (that's the matrix G in Muller's */
/* paper eq. (87) */
/* exp(j * am * wC * (-zs)) */
auxm1 = zs * (- amI.r * wC.r + amI.i * wC.i);
auxm2 = -zs * (amI.r * wC.i + amI.i * wC.r);
g[0].r = exp(auxm1) * cos(auxm2);
g[0].i = exp(auxm1) * sin(auxm2);
/* exp(j * bm * wC * (-zs)) */
auxm1 = zs * (- bmI.r * wC.r + bmI.i * wC.i);
auxm2 = -zs * (bmI.r * wC.i + bmI.i * wC.r);
g[1].r = exp(auxm1) * cos(auxm2);
g[1].i = exp(auxm1) * sin(auxm2);
/* computing the product I - R-R+ */
auxm1 = rm[0][0].r * rp[0][0].r - rm[0][0].i * rp[0][0].i;
auxm2 = rm[0][0].r * rp[0][0].i + rm[0][0].i * rp[0][0].r;
auxm3 = rm[0][1].r * rp[1][0].r - rm[0][1].i * rp[1][0].i;
auxm4 = rm[0][1].r * rp[1][0].i + rm[0][1].i * rp[1][0].r;
irr[0][0].r = 1 - (auxm1 + auxm3);
irr[0][0].i = - (auxm2 + auxm4);
auxm1 = rm[0][0].r * rp[0][1].r - rm[0][0].i * rp[0][1].i;
auxm2 = rm[0][0].r * rp[0][1].i + rm[0][0].i * rp[0][1].r;
auxm3 = rm[0][1].r * rp[1][1].r - rm[0][1].i * rp[1][1].i;
auxm4 = rm[0][1].r * rp[1][1].i + rm[0][1].i * rp[1][1].r;
irr[0][1].r = - (auxm1 + auxm3);
irr[0][1].i = - (auxm2 + auxm4);
auxm1 = rm[1][0].r * rp[0][0].r - rm[1][0].i * rp[0][0].i;
auxm2 = rm[1][0].r * rp[0][0].i + rm[1][0].i * rp[0][0].r;
auxm3 = rm[1][1].r * rp[1][0].r - rm[1][1].i * rp[1][0].i;
auxm4 = rm[1][1].r * rp[1][0].i + rm[1][1].i * rp[1][0].r;
irr[1][0].r = - (auxm1 + auxm3);
irr[1][0].i = - (auxm2 + auxm4);
auxm1 = rm[1][0].r * rp[0][1].r - rm[1][0].i * rp[0][1].i;
auxm2 = rm[1][0].r * rp[0][1].i + rm[1][0].i * rp[0][1].r;
auxm3 = rm[1][1].r * rp[1][1].r - rm[1][1].i * rp[1][1].i;
auxm4 = rm[1][1].r * rp[1][1].i + rm[1][1].i * rp[1][1].r;
irr[1][1].r = 1 - (auxm1 + auxm3);
irr[1][1].i = - (auxm2 + auxm4);
/* inverting irr explicitly */
auxm1 = irr[0][0].r * irr[1][1].r - irr[0][0].i * irr[1][1].i;
auxm2 = irr[0][0].r * irr[1][1].i + irr[0][0].i * irr[1][1].r;
auxm3 = irr[0][1].r * irr[1][0].r - irr[0][1].i * irr[1][0].i;
auxm4 = irr[0][1].r * irr[1][0].i + irr[0][1].i * irr[1][0].r;
aux1.r = auxm1 - auxm3;
aux1.i = auxm2 - auxm4;
/* 1 / aux1 */
aux = aux1.r * aux1.r + aux1.i * aux1.i;
aux1.r = aux1.r / aux;
aux1.i = -aux1.i / aux;
/* Inverse of irr */
irrI[0][0].r = irr[1][1].r * aux1.r - irr[1][1].i * aux1.i;
irrI[0][0].i = irr[1][1].r * aux1.i + irr[1][1].i * aux1.r;
irrI[0][1].r = -(irr[0][1].r * aux1.r - irr[0][1].i * aux1.i);
irrI[0][1].i = -(irr[0][1].r * aux1.i + irr[0][1].i * aux1.r);
irrI[1][0].r = -(irr[1][0].r * aux1.r - irr[1][0].i * aux1.i);
irrI[1][0].i = -(irr[1][0].r * aux1.i + irr[1][0].i * aux1.r);
irrI[1][1].r = irr[0][0].r * aux1.r - irr[0][0].i * aux1.i;
irrI[1][1].i = irr[0][0].r * aux1.i + irr[0][0].i * aux1.r;
/* computing vectors V1,2, check eq (76) Muller's paper */
auxm1 = As1.r * rm[0][0].r - As1.i * rm[0][0].i;
auxm2 = As1.r * rm[0][0].i + As1.i * rm[0][0].r;
auxm3 = Cs1.r * rm[0][1].r - Cs1.i * rm[0][1].i;
auxm4 = Cs1.r * rm[0][1].i + Cs1.i * rm[0][1].r;
aux1.r = Bs1.r + (auxm1 + auxm3);
aux1.i = Bs1.i + (auxm2 + auxm4);
auxm1 = As1.r * rm[1][0].r - As1.i * rm[1][0].i;
auxm2 = As1.r * rm[1][0].i + As1.i * rm[1][0].r;
auxm3 = Cs1.r * rm[1][1].r - Cs1.i * rm[1][1].i;
auxm4 = Cs1.r * rm[1][1].i + Cs1.i * rm[1][1].r;
aux2.r = Ds1.r + (auxm1 + auxm3);
aux2.i = Ds1.i + (auxm2 + auxm4);
auxm1 = aux1.r * irrI[0][0].r - aux1.i * irrI[0][0].i;
auxm2 = aux1.r * irrI[0][0].i + aux1.i * irrI[0][0].r;
auxm3 = aux2.r * irrI[0][1].r - aux2.i * irrI[0][1].i;
auxm4 = aux2.r * irrI[0][1].i + aux2.i * irrI[0][1].r;
v1[0][0].r = auxm1 + auxm3;
v1[0][0].i = auxm2 + auxm4;
auxm1 = aux1.r * irrI[1][0].r - aux1.i * irrI[1][0].i;
auxm2 = aux1.r * irrI[1][0].i + aux1.i * irrI[1][0].r;
auxm3 = aux2.r * irrI[1][1].r - aux2.i * irrI[1][1].i;
auxm4 = aux2.r * irrI[1][1].i + aux2.i * irrI[1][1].r;
v1[0][1].r = auxm1 + auxm3;
v1[0][1].i = auxm2 + auxm4;
/* loop over "active" layers */
for (iDer = 1, i = 0; i < numberPar; i++)
{
/* i = 0 -> Vp */
/* i = 1 -> Vs */
/* i = 2 -> rho */
for (iL = MIN(lim[0], 2); iL < MIN(lim[0], 2) + limRange;
iL++, iDer++)
{
/* rp * [v1[0], v1[1]] + (As1, Cs1)*/
auxm1 = rp[0][0].r * v1[0][0].r - rp[0][0].i * v1[0][0].i;
auxm2 = rp[0][0].r * v1[0][0].i + rp[0][0].i * v1[0][0].r;
auxm1 += rp[0][1].r * v1[0][1].r - rp[0][1].i * v1[0][1].i
+ As1.r;
auxm2 += rp[0][1].r * v1[0][1].i + rp[0][1].i * v1[0][1].r
+ As1.i;
auxm3 = rp[1][0].r * v1[0][0].r - rp[1][0].i * v1[0][0].i;
auxm4 = rp[1][0].r * v1[0][0].i + rp[1][0].i * v1[0][0].r;
auxm3 += rp[1][1].r * v1[0][1].r - rp[1][1].i * v1[0][1].i
+ Cs1.r;
auxm4 += rp[1][1].r * v1[0][1].i + rp[1][1].i * v1[0][1].r
+ Cs1.i;
/* DmB[0][active layers][0 1 2 3] * */
/* ((auxm1, auxm2), (auxm3, auxm4)) */
aux1.r = auxm1 * DmB[0][i * limRange + iL][0].r
- auxm2 * DmB[0][i * limRange + iL][0].i
+ auxm3 * DmB[0][i * limRange + iL][1].r
- auxm4 * DmB[0][i * limRange + iL][1].i;
aux1.i = auxm1 * DmB[0][i * limRange + iL][0].i
+ auxm2 * DmB[0][i * limRange + iL][0].r
+ auxm3 * DmB[0][i * limRange + iL][1].i
+ auxm4 * DmB[0][i * limRange + iL][1].r;
aux2.r = auxm1 * DmB[0][i * limRange + iL][2].r
- auxm2 * DmB[0][i * limRange + iL][2].i
+ auxm3 * DmB[0][i * limRange + iL][3].r
- auxm4 * DmB[0][i * limRange + iL][3].i;
aux2.i = auxm1 * DmB[0][i * limRange + iL][2].i
+ auxm2 * DmB[0][i * limRange + iL][2].r
+ auxm3 * DmB[0][i * limRange + iL][3].i
+ auxm4 * DmB[0][i * limRange + iL][3].r;
/* irrI * (aux1, aux2) */
auxm1 = irrI[0][0].r * aux1.r - irrI[0][0].i * aux1.i;
auxm2 = irrI[0][0].r * aux1.i + irrI[0][0].i * aux1.r;
auxm3 = irrI[0][1].r * aux2.r - irrI[0][1].i * aux2.i;
auxm4 = irrI[0][1].r * aux2.i + irrI[0][1].i * aux2.r;
v1[iDer][0].r = auxm1 + auxm3;
v1[iDer][0].i = auxm2 + auxm4;
auxm1 = irrI[1][0].r * aux1.r - irrI[1][0].i * aux1.i;
auxm2 = irrI[1][0].r * aux1.i + irrI[1][0].i * aux1.r;
auxm3 = irrI[1][1].r * aux2.r - irrI[1][1].i * aux2.i;
auxm4 = irrI[1][1].r * aux2.i + irrI[1][1].i * aux2.r;
v1[iDer][1].r = auxm1 + auxm3;
v1[iDer][1].i = auxm2 + auxm4;
}
}
auxm1 = As2.r * rm[0][0].r - As2.i * rm[0][0].i;
auxm2 = As2.r * rm[0][0].i + As2.i * rm[0][0].r;
auxm3 = Cs2.r * rm[0][1].r - Cs2.i * rm[0][1].i;
auxm4 = Cs2.r * rm[0][1].i + Cs2.i * rm[0][1].r;
aux1.r = Bs2.r + (auxm1 + auxm3);
aux1.i = Bs2.i + (auxm2 + auxm4);
auxm1 = As2.r * rm[1][0].r - As2.i * rm[1][0].i;
auxm2 = As2.r * rm[1][0].i + As2.i * rm[1][0].r;
auxm3 = Cs2.r * rm[1][1].r - Cs2.i * rm[1][1].i;
auxm4 = Cs2.r * rm[1][1].i + Cs2.i * rm[1][1].r;
aux2.r = Ds2.r + (auxm1 + auxm3);
aux2.i = Ds2.i + (auxm2 + auxm4);
auxm1 = aux1.r * irrI[0][0].r - aux1.i * irrI[0][0].i;
auxm2 = aux1.r * irrI[0][0].i + aux1.i * irrI[0][0].r;
auxm3 = aux2.r * irrI[0][1].r - aux2.i * irrI[0][1].i;
auxm4 = aux2.r * irrI[0][1].i + aux2.i * irrI[0][1].r;
v2[0][0].r = auxm1 + auxm3;
v2[0][0].i = auxm2 + auxm4;
auxm1 = aux1.r * irrI[1][0].r - aux1.i * irrI[1][0].i;
auxm2 = aux1.r * irrI[1][0].i + aux1.i * irrI[1][0].r;
auxm3 = aux2.r * irrI[1][1].r - aux2.i * irrI[1][1].i;
auxm4 = aux2.r * irrI[1][1].i + aux2.i * irrI[1][1].r;
v2[0][1].r = auxm1 + auxm3;
v2[0][1].i = auxm2 + auxm4;
/* loop over "active" layers */
for (iDer = 1, i = 0; i < numberPar; i++)
{
/* i = 0 -> Vp */
/* i = 1 -> Vs */
/* i = 2 -> rho */
for (iL = MIN(lim[0], 2); iL < MIN(lim[0], 2) + limRange;
iL++, iDer++)
{
/* rp * [v2[0], v2[1]] + (As2, Bs2) */
auxm1 = rp[0][0].r * v2[0][0].r - rp[0][0].i * v2[0][0].i;
auxm2 = rp[0][0].r * v2[0][0].i + rp[0][0].i * v2[0][0].r;
auxm1 += rp[0][1].r * v2[0][1].r - rp[0][1].i * v2[0][1].i
+ As2.r;
auxm2 += rp[0][1].r * v2[0][1].i + rp[0][1].i * v2[0][1].r
+ As2.i;
auxm3 = rp[1][0].r * v2[0][0].r - rp[1][0].i * v2[0][0].i;
auxm4 = rp[1][0].r * v2[0][0].i + rp[1][0].i * v2[0][0].r;
auxm3 += rp[1][1].r * v2[0][1].r - rp[1][1].i * v2[0][1].i
+ Cs2.r;
auxm4 += rp[1][1].r * v2[0][1].i + rp[1][1].i * v2[0][1].r
+ Cs2.i;
/* DmB[0][active layers][0 1 2 3] * */
/* ((auxm1, auxm2), (auxm3, auxm4)) */
aux1.r = auxm1 * DmB[0][i * limRange + iL][0].r
- auxm2 * DmB[0][i * limRange + iL][0].i
+ auxm3 * DmB[0][i * limRange + iL][1].r
- auxm4 * DmB[0][i * limRange + iL][1].i;
aux1.i = auxm1 * DmB[0][i * limRange + iL][0].i
+ auxm2 * DmB[0][i * limRange + iL][0].r
+ auxm3 * DmB[0][i * limRange + iL][1].i
+ auxm4 * DmB[0][i * limRange + iL][1].r;
aux2.r = auxm1 * DmB[0][i * limRange + iL][2].r
- auxm2 * DmB[0][i * limRange + iL][2].i
+ auxm3 * DmB[0][i * limRange + iL][3].r
- auxm4 * DmB[0][i * limRange + iL][3].i;
aux2.i = auxm1 * DmB[0][i * limRange + iL][2].i
+ auxm2 * DmB[0][i * limRange + iL][2].r
+ auxm3 * DmB[0][i * limRange + iL][3].i
+ auxm4 * DmB[0][i * limRange + iL][3].r;
/* irrI * (aux1, aux2) */
auxm1 = irrI[0][0].r * aux1.r - irrI[0][0].i * aux1.i;
auxm2 = irrI[0][0].r * aux1.i + irrI[0][0].i * aux1.r;
auxm3 = irrI[0][1].r * aux2.r - irrI[0][1].i * aux2.i;
auxm4 = irrI[0][1].r * aux2.i + irrI[0][1].i * aux2.r;
v2[iDer][0].r = auxm1 + auxm3;
v2[iDer][0].i = auxm2 + auxm4;
auxm1 = irrI[1][0].r * aux1.r - irrI[1][0].i * aux1.i;
auxm2 = irrI[1][0].r * aux1.i + irrI[1][0].i * aux1.r;
auxm3 = irrI[1][1].r * aux2.r - irrI[1][1].i * aux2.i;
auxm4 = irrI[1][1].r * aux2.i + irrI[1][1].i * aux2.r;
v2[iDer][1].r = auxm1 + auxm3;
v2[iDer][1].i = auxm2 + auxm4;
}
}
/* applying phase-shift to FRECHET derivatives */
/* loop over "active" layers */
for (iDer = 1; iDer <= numberPar * limRange; iDer++)
{
aux = v1[iDer][0].r * g[0].r - v1[iDer][0].i * g[0].i;
v1[iDer][0].i = v1[iDer][0].r * g[0].i +
v1[iDer][0].i * g[0].r;
v1[iDer][0].r = aux;
aux = v1[iDer][1].r * g[1].r - v1[iDer][1].i * g[1].i;
v1[iDer][1].i = v1[iDer][1].r * g[1].i +
v1[iDer][1].i * g[1].r;
v1[iDer][1].r = aux;
aux = v2[iDer][0].r * g[0].r - v2[iDer][0].i * g[0].i;
v2[iDer][0].i = v2[iDer][0].r * g[0].i +
v2[iDer][0].i * g[0].r;
v2[iDer][0].r = aux;
aux = v2[iDer][1].r * g[1].r - v2[iDer][1].i * g[1].i;
v2[iDer][1].i = v2[iDer][1].r * g[1].i +
v2[iDer][1].i * g[1].r;
v2[iDer][1].r = aux;
}
/* compensating for free surface */
freeSurfaceFrechet(v1, v2);
/* loop over offsets for computing the displacements */
displacementsFrechet(iU);
}
/* displacements in the radial or vertical direction */
/* (frequency domain) */
/* there's a 2 (free surface) / 2 (trapezoidal integration) */
/* simplified in the equation below */
dUCEp1.r = epslon1 * dUC.r;
dUCEp1.i = epslon1 * dUC.i;
dUCEp2.r = epslon2 * dUC.r;
dUCEp2.i = epslon2 * dUC.i;
/* loop over "active" layers */
for (iDer = 0; iDer < numberPar * limRange; iDer++)
{
/* loop over offsets */
for (iR = 0; iR < nR; iR++)
{
/* radial ? */
if (RADIAL)
{
auxm1 = aux11[iDer][iR].r * dUCEp1.r -
aux11[iDer][iR].i * dUCEp1.i;
auxm2 = aux11[iDer][iR].r * dUCEp1.i +
aux11[iDer][iR].i * dUCEp1.r;
auxm3 = aux21[iDer][iR].r * dUCEp2.r -
aux21[iDer][iR].i * dUCEp2.i;
auxm4 = aux21[iDer][iR].r * dUCEp2.i +
aux21[iDer][iR].i * dUCEp2.r;
dpl.i = (auxm1 + auxm3) * wCCte.r - (auxm2 + auxm4) * wCCte.i;
dpl.i = (auxm1 + auxm3) * wCCte.i + (auxm2 + auxm4) * wCCte.r;
/* filtering */
dpl.r *= window[indexF] * SGN(recArray[iR]);
dpl.i *= window[indexF] * SGN(recArray[iR]);
}
if (VERTICAL)
{
auxm1 = aux12[iDer][iR].r * dUCEp1.r -
aux12[iDer][iR].i * dUCEp1.i;
auxm2 = aux12[iDer][iR].r * dUCEp1.i +
aux12[iDer][iR].i * dUCEp1.r;
auxm3 = aux22[iDer][iR].r * dUCEp2.r -
aux22[iDer][iR].i * dUCEp2.i;
auxm4 = aux22[iDer][iR].r * dUCEp2.i +
aux22[iDer][iR].i * dUCEp2.r;
dpl.r = (auxm1 + auxm3) * wCCte.r - (auxm2 + auxm4) * wCCte.i;
dpl.i = (auxm1 + auxm3) * wCCte.i + (auxm2 + auxm4) * wCCte.r;
/* filtering */
dpl.r *= window[indexF];
dpl.i *= window[indexF];
}
/* storing displacements in matrix displ */
displ[iDer][iR][indexF] = dpl;
}
}
}
/* going to time domain and correctig for tau */
for (iDer = 0; iDer < numberPar; iDer++)
{
for (iL = 0; iL < limRange; iL++)
{
for (iR = 0; iR < nR; iR++)
{
pfacr(1, nSamples, displ[iDer * limRange + iL][iR], buffer);
/* correcting for tau */
for (iT = 0; iT < nSamples; iT++)
{
buffer[iT] *= exp(tau * iT * dt);
}
/* copying to operator F */
iT1 = NINT(t1 / dt);
for (iT = 0; iT < nDM; iT++)
{
if (IMPEDANCE && vpFrechet && iDer == 0)
{
F[iDer * limRange + iL][iR * nDM + iT] =
buffer[iT1 + iT] / rho[iL + lim[0]];
}
else if (IMPEDANCE && vsFrechet && (iDer == 0 || iDer == 1))
{
F[iDer * limRange + iL][iR * nDM + iT] =
buffer[iT1 + iT] / rho[iL + lim[0]];
}
else if (IMPEDANCE && rhoFrechet && iDer == 2)
{
F[iDer * limRange + iL][iR * nDM + iT] =
- alpha[iL + lim[0]] * F[iL][iR * nDM + iT]
- beta[iL + lim[0]] * F[iL + limRange][iR * nDM + iT]
+ buffer[iT1 + iT];
}
else if (!IMPEDANCE)
{
F[iDer * limRange + iL][iR * nDM + iT] = buffer[iT1 + iT] ;
}
}
}
}
}
/* if in the IMPEDANCE domain rearrange matrix F */
if (IMPEDANCE)
{
if (rhoFrechet && !ipFrechet && !isFrechet)
{
for (iL = 0; iL < limRange; iL++)
{
for (iR = 0; iR < nR; iR++)
{
for (iT = 0; iT < nDM; iT++)
{
F[iL][iR * nDM + iT] = F[iL + 2 * limRange][iR * nDM + iT];
}
}
}
}
else if (rhoFrechet && ipFrechet && !isFrechet)
{
for (iL = 0; iL < limRange; iL++)
{
for (iR = 0; iR < nR; iR++)
{
for (iT = 0; iT < nDM; iT++)
{
F[iL + limRange][iR * nDM + iT] =
F[iL + 2 * limRange][iR * nDM + iT];
}
}
}
}
else if (rhoFrechet && !ipFrechet && isFrechet)
{
for (iL = 0; iL < limRange; iL++)
{
for (iR = 0; iR < nR; iR++)
{
for (iT = 0; iT < nDM; iT++)
{
F[iL][iR * nDM + iT] = F[iL + limRange][iR * nDM + iT];
F[iL + limRange][iR * nDM + iT] =
F[iL + 2 * limRange][iR * nDM + iT];
}
}
}
}
}
/* freeing memory */
free3complex(displ);
free1float(buffer);
}
void CoaxVisionControl::stabilizationControl(void) {
double Dyaw,Dyaw_rate,yaw_control;
double altitude_control,Daltitude, Daltitude_rate,Dx,Dy,Dx_rate,Dy_rate,C;
double Fdes_x,Fdes_y,Fdes_z,Mdes_z,Tup,Tlo,Wdes_up,Wdes_lo;
static double Daltitude_Int = 0,Dx_int = 0,Dy_int = 0,Dyaw_int = 0;
Eigen::Vector2f state = getState();
altitude_des = des_pos_z;
Daltitude = global_z-altitude_des;
Daltitude_rate = twist_z-des_vel_z;
Daltitude_Int += Daltitude;
altitude_control = -pm.kp_altitude * Daltitude - pm.kd_altitude * Daltitude_rate - pm.ki_altitude * Daltitude_Int;
Dx = global_x-des_pos_x;
if(Dx>pm.Dx_max) {
Dx = pm.Dx_max;
}
else if(Dx<-pm.Dx_max) {
Dx = -pm.Dx_max;
}
Dy = global_y-des_pos_y;
if(Dy>pm.Dy_max) {
Dy = pm.Dy_max;
}
else if(Dy<-pm.Dy_max) {
Dy = -pm.Dy_max;
}
Dx_rate = twist_x-des_vel_x;
Dy_rate = twist_y-des_vel_y;
Dx_int +=Dx;
Dy_int +=Dy;
Fdes_z = altitude_control+pm.m*gravity;
Fdes_x = -pm.kp_x*Dx-pm.kd_x*Dx_rate-pm.ki_x*Dx_int-pm.kd_pq*twist_ang[1]-pm.kp_pq*eula_b;
Fdes_y = -pm.kp_y*Dy-pm.kd_y*Dy_rate-pm.ki_y*Dy_int-pm.kd_pq*twist_ang[0]-pm.kp_pq*eula_a;
Dyaw_rate = twist_ang[2];
Dyaw = eula_c-des_yaw;
Dyaw_int +=Dyaw;
yaw_control = -pm.kp_yaw * Dyaw - pm.kd_yaw * Dyaw_rate-pm.ki_yaw*Dyaw_int;
Mdes_z = yaw_control-twist_ang_b[0]*twist_ang_b[1]*(pm.Ixx-pm.Iyy);
C = pm.kT_up*pm.kM_lo+pm.kT_lo*pm.kM_up;
Tup=(pm.kM_lo*Fdes_z-pm.kT_lo*Mdes_z)/C;
zT_lo[2]=sqrt(1/(1+(C*C*(Fdes_x*Fdes_x+Fdes_y*Fdes_y)/(pm.kT_lo*pm.kT_lo*(Fdes_z*pm.kM_up+Mdes_z*pm.kT_up)*(Fdes_z*pm.kM_up+Mdes_z*pm.kT_up)))));
Tlo=(pm.kM_up*Fdes_z+pm.kT_up*Mdes_z)/(zT_lo[2]*C);
if(Tup<0) {
Tup = 0;
}
if(Tlo<0) {
Tlo = 0;
}
Wdes_up = sqrt(Tup);
Wdes_lo = sqrt(Tlo);
u_up = (Wdes_up-pm.bM_up)/pm.mM_up;
u_lo = (Wdes_lo-pm.bM_lo)/pm.mM_lo;
if(u_up<pm.motor_const1)
{
u_up=pm.motor_const1;
}
if(u_lo<pm.motor_const2)
{
u_lo=pm.motor_const2;
}
zT_lo[0]=Fdes_x/(pm.kT_lo*Tlo);
zT_lo[1]=Fdes_y/(pm.kT_lo*Tlo);
zT_lo = Rbw*zT_lo;
lag_lo=pm.mL_lo*u_lo+pm.bL_lo;
Rp(0,0)=cos(lag_lo);
Rp(0,1)=-sin(lag_lo);
Rp(0,2)=0;
Rp(1,0)=sin(lag_lo);
Rp(1,1)=cos(lag_lo);
Rp(1,2)=0;
Rp(2,0)=0;
Rp(2,1)=0;
Rp(2,2)=1;
zT_lo = Rp*zT_lo;
z_sp[2]=cos(pm.L_lo*acos(zT_lo[2]));
if (z_sp[2]<cos(pm.theta_max)) {
z_sp[2]=pm.theta_max;
}
if(zT_lo[2]==1) {
z_sp[1]=0;
z_sp[0]=0;
}
else if(zT_lo[2]!=1) {
z_sp[1]=zT_lo[1]*sqrt((1-z_sp[2]*z_sp[2])/(1-zT_lo[2]*zT_lo[2]));
z_sp[0]=zT_lo[0]*sqrt((1-z_sp[2]*z_sp[2])/(1-zT_lo[2]*zT_lo[2]));
}
//ROS_INFO("u:[%f,%f,%f,%f]",u_up,u_lo,u_roll,u_pitch);
u_pitch=1/pm.theta_max*asin(z_sp[0]);
u_roll=1/pm.theta_max*atan(-z_sp[1]/z_sp[2]);
motor1_des = u_up;
motor2_des = u_lo;
servo1_des = pm.k_roll*u_roll+pm.offset_roll+ pm.r_rc_coef * (rpyt_rc[0]+rpyt_rc_trim[0]);
servo2_des = pm.k_pitch*u_pitch+pm.offset_pitch - pm.p_rc_coef * (rpyt_rc[1]+rpyt_rc_trim[1]);
if(battery_voltage<=10.8) {
ROS_WARN("low battery");
}
// ROS_INFO("u:[%f,%f,%f,%f]",motor1_des,motor2_des,servo1_des,servo2_des);
}