71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
//
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// Created by david on 15.03.2026.
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//
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#ifndef PASADASUPERPROJECT_STEP_DETECTOR_H
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#define PASADASUPERPROJECT_STEP_DETECTOR_H
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#include "iir_filter.h"
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#include "ssf_filter.h"
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#include "pd_resamp.h"
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#include <vector>
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class StepListener {
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public:
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virtual ~StepListener() {}
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virtual void playBeat() = 0;
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};
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/** mean-filter the gravity vector, then take acceleration downwards */
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class GravityFilter {
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size_t N;
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std::vector<double> gauss_taps;
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Filt gx;
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Filt gy;
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Filt gz;
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public:
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// 5 secs buffer, prime y with direction of gravity (for tests & faster init)
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GravityFilter(double fps);
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double filter(std::vector<double> values);
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};
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/**
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* Step detector from accelerometer signal.
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*
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* Settling time is 3.0 sec (defined in SsfStepDetector.LEN_INIT),
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* no steps are detected before.
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*/
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class StepDetector {
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protected:
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StepListener *listener;
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GravityFilter f_grav;
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SsfFilter f_ssf;
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SsfStepDetector f_ssd;
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RunningQualityFilter f_sqi;
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bool debug;
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std::vector<double> buf_ssd;
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std::vector<double> buf_sqi;
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std::vector<double> buf_out;
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Resampler res_x;
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Resampler res_y;
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Resampler res_z;
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double fps;
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public:
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StepDetector(double fps, StepListener *listener, bool debug = false);
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void filter(double ts, std::vector<float> values);
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void filter_a(double s1);
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std::vector<double> getBufSsd();
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std::vector<double> getBufSqi();
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std::vector<double> getBufOut();
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/**
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* Prime the filters using the given input signal.
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* Used for debugging (non-realtime processing) to align the signal.
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*/
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double primeFilters(double fps, std::vector<double> sig);
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};
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#endif //PASADASUPERPROJECT_STEP_DETECTOR_H
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