/**
* Initializes the text data of the text label of this dimension.
* The text data is created at 0/0 at an angle or 0. Moving the
* label to the right position at the right angle is up to the
* particular dimension implementation.
*/
void RDimensionData::initTextData() const {
double dimtxt = getDimtxt();
QString label = getMeasurement();
// TODO: fontName property takes precedence
textData = RTextData(RVector(0,0), // position
RVector(0,0), // alignment point
dimtxt, // text height
0.0,
RS::VAlignMiddle, RS::HAlignCenter,
RS::LeftToRight,
RS::Exact, 1.0,
label,
//fontName,
(document==NULL || document->getDimensionFont().isEmpty()) ? "Standard" : document->getDimensionFont(),
false, false,
0.0,
false // not simple (diameter signs, stacked text, ...)
);
textData.setDocument(document);
textData.setLayerId(getLayerId());
textData.setBlockId(getBlockId());
textData.setColor(getColor());
textData.setLineweight(getLineweight());
textData.setSelected(isSelected());
textData.setDimensionLabel(true);
//qDebug() << "label color: " << textData.getColor();
//qDebug() << "textData: " << textData;
dirty = true;
}
void get_event_data(bhep::event& evt, measurement_vector& meas, EVector& vert, double* mom)
{
vert[0] = evt.vertex()[0];
vert[1] = evt.vertex()[1];
vert[2] = evt.vertex()[2];
//make the measurement vector.
vector<bhep::particle*> parts = evt.true_particles();
vector<bhep::particle*>::iterator pIt;
//in this version use the truth. the combined hadron particle from G3
for (pIt = parts.begin();pIt != parts.end();pIt++)
{
if ( (*pIt)->name().compare("Hadronic_vector") == 0 ){
const vector<bhep::hit*>& hits = (*pIt)->hits("MIND");
mom[0] = (*pIt)->px();
mom[1] = (*pIt)->py();
mom[2] = (*pIt)->pz();
for (size_t j=0; j< hits.size(); j++){
Measurement* mnt = getMeasurement( *hits[j] );
meas.push_back( mnt );
}
}
}
}
void loop()
{
for(int i=0; i<270; i++)
{
// urm.setServo(i);
Serial.println(getMeasurement()); // Output measurement
delay(20);
}
}
float SHT3x::readTempF(const uint16_t& command) const {
uint32_t raw_data = getMeasurement(command);
if (!raw_data) {
throw std::runtime_error("Bad Reading.");
}
uint16_t raw_temp = raw_data >> 16;
float tempF = -49.0 + (315.0 * ((float) raw_temp / (float) 0xFFFF));
return tempF;
}
void ComplementaryFilter::updateImpl(
double gx, double gy, double gz,
double ax, double ay, double az,
double dt)
{
if (!initialized_)
{
// First time - ignore prediction:
getMeasurement(ax, ay, az,
q0_, q1_, q2_, q3_);
initialized_ = true;
return;
}
if(dt <= 0.0)
{
UERROR("dt=%f <=0.0, orientation will not be updated!", dt);
return;
}
// Bias estimation.
if (do_bias_estimation_)
updateBiases(ax, ay, az, gx, gy, gz);
// Prediction.
double q0_pred, q1_pred, q2_pred, q3_pred;
getPrediction(gx, gy, gz, dt,
q0_pred, q1_pred, q2_pred, q3_pred);
// Correction (from acc):
// q_ = q_pred * [(1-gain) * qI + gain * dq_acc]
// where qI = identity quaternion
double dq0_acc, dq1_acc, dq2_acc, dq3_acc;
getAccCorrection(ax, ay, az,
q0_pred, q1_pred, q2_pred, q3_pred,
dq0_acc, dq1_acc, dq2_acc, dq3_acc);
double gain;
if (do_adaptive_gain_)
{
gain = getAdaptiveGain(gain_acc_, ax, ay, az);
}
else
{
gain = gain_acc_;
}
scaleQuaternion(gain, dq0_acc, dq1_acc, dq2_acc, dq3_acc);
quaternionMultiplication(q0_pred, q1_pred, q2_pred, q3_pred,
dq0_acc, dq1_acc, dq2_acc, dq3_acc,
q0_, q1_, q2_, q3_);
normalizeQuaternion(q0_, q1_, q2_, q3_);
}
IndexedVectorArray DynamicalSystemSimulator::getMeasurementArray
(TimeIndex startingTime, TimeSize duration)
{
BOOST_ASSERT(startingTime>y_.getFirstIndex() && "ERROR: The starting time is too early, try later starting time");
IndexedVectorArray a;
for (TimeIndex i= startingTime; i<startingTime+TimeIndex(duration);++i)
{
a.setValue(getMeasurement(i),i);
}
return a;
}
byte URMSerial::requestMeasurementOrTimeout(byte mType, int& value)
{
// Request measurement or fail
if(!requestMeasurement(mType))
{
return NOTREADY;
}
// Wait until we either timeout or we have a reading
while(!reqTimeout() && !hasReading())
{
delay(10); // Wait a bit
}
// Request has timed out, FAIL
if(reqTimeout()) return TIMEOUT;
// Pass control to getMeasurement which will return the requested measurement
return getMeasurement(value);
}
/**
* Initializes the text data of the text label of this dimension.
* The text data is created at 0/0 at an angle or 0. Moving the
* label to the right position at the right angle is up to the
* particular dimension implementation.
*/
void RDimensionData::initTextData() const {
double dimtxt = getDimtxt();
QString label = getMeasurement();
textData = RTextData(RVector(0,0), // position
RVector(0,0), // alignment point
dimtxt, // text height
0.0,
RS::VAlignMiddle, RS::HAlignCenter,
RS::LeftToRight,
RS::Exact, 1.0,
label,
//fontName,
"Standard",
false, false,
0.0,
false // not simple (diameter signs, stacked text, ...)
);
dirty = true;
}
void* init_resource_thread(void* pLogger, void* pStartSem, MS_LIST* pMs_List, void* pMeasureRes){
NLibMeasure::CMeasureAbstractThread* pMICThread;
NLibMeasure::CMeasureAbstractResource* pMIC = (NLibMeasure::CMeasureAbstractResource*) pMeasureRes;
if(pMIC->getVariant() == VARIANT_FULL) {
pMICThread = new NLibMeasure::CMeasureMICThread<VARIANT_FULL>(*((NLibMeasure::CLogger*)pLogger), *((NLibMeasure::CSemaphore*)pStartSem), getMeasurement(&pMs_List, MIC), *pMIC);
} else {
pMICThread = new NLibMeasure::CMeasureMICThread<VARIANT_LIGHT>(*((NLibMeasure::CLogger*)pLogger), *((NLibMeasure::CSemaphore*)pStartSem), getMeasurement(&pMs_List, MIC), *pMIC);
}
return (void*) pMICThread;
}
