feat: add GravityFilter and Resampler to StepDetector

pasada-lib/include/step_detector.h

@@ -7,6 +7,7 @@
 
 #include "iir_filter.h"
 #include "ssf_filter.h"
+#include "pd_resamp.h"
 #include <vector>
 
 class StepListener {
@@ -15,39 +16,6 @@ public:
     virtual void playBeat() = 0;
 };
 
-/**
- * Step detector from accelerometer signal.
- *
- * Settling time is 3.0 sec (defined in SsfStepDetector.LEN_INIT),
- * no steps are detected before.
- */
-class StepDetector {
-protected:
-    StepListener *listener;
-    Filt f_neg;
-    SsfFilter f_ssf;
-    SsfStepDetector f_ssd;
-    RunningQualityFilter f_sqi;
-
-    bool debug;
-    std::vector<double> buf_ssd;
-    std::vector<double> buf_sqi;
-    std::vector<double> buf_out;
-
-public:
-    StepDetector(double fps, StepListener *listener, bool debug = false);
-    void filter(std::vector<float> values);
-    std::vector<double> getBufSsd();
-    std::vector<double> getBufSqi();
-    std::vector<double> getBufOut();
-
-    /**
-     * Prime the filters using the given input signal.
-     * Used for debugging (non-realtime processing) to align the signal.
-     */
-    void primeFilters(double fps, std::vector<double> sig);
-};
-
 /** mean-filter the gravity vector, then take acceleration downwards */
 class GravityFilter {
     size_t N;
@@ -58,7 +26,45 @@ class GravityFilter {
 public:
     // 5 secs buffer, prime y with direction of gravity (for tests & faster init)
     GravityFilter(double fps);
-    double filter(std::vector<float> values);
+    double filter(std::vector<double> values);
+};
+
+/**
+ * Step detector from accelerometer signal.
+ *
+ * Settling time is 3.0 sec (defined in SsfStepDetector.LEN_INIT),
+ * no steps are detected before.
+ */
+class StepDetector {
+protected:
+    StepListener *listener;
+    GravityFilter f_grav;
+    SsfFilter f_ssf;
+    SsfStepDetector f_ssd;
+    RunningQualityFilter f_sqi;
+
+    bool debug;
+    std::vector<double> buf_ssd;
+    std::vector<double> buf_sqi;
+    std::vector<double> buf_out;
+
+    Resampler res_x;
+    Resampler res_y;
+    Resampler res_z;
+
+public:
+    StepDetector(double fps, StepListener *listener, bool debug = false);
+    void filter(double ts, std::vector<float> values);
+    void filter_a(double s1);
+    std::vector<double> getBufSsd();
+    std::vector<double> getBufSqi();
+    std::vector<double> getBufOut();
+
+    /**
+     * Prime the filters using the given input signal.
+     * Used for debugging (non-realtime processing) to align the signal.
+     */
+    double primeFilters(double fps, std::vector<double> sig);
 };
 
 #endif //PASADASUPERPROJECT_STEP_DETECTOR_H