public void SetFilter(KalmanVelocityNoiseFilter _filter)
{
filter = _filter;
ignoreChanges = true;
A.Text = "" + filter.GetA();
H.Text = "" + filter.GetH();
Q.Text = "" + filter.GetQ();
R.Text = "" + filter.GetR();
P.Text = "" + filter.GetP();
X.Text = "" + filter.GetX();
ignoreChanges = false;
}
public FilterBase AddFilter(FilterType filterType, CMCustomUDPData.DataKey key, bool updateUI = false)
{
List <FilterBase> filterList = filters[(int)key];
if (filterList == null)
{
filterList = filters[(int)key] = new List <FilterBase>();
}
FilterBase newFilter = null;
switch (filterType)
{
case FilterType.Smooth:
{
NestedSmoothFilter newSmoothFilter = new NestedSmoothFilter();
newSmoothFilter.SetParameters(1, 3, 0.5f);
filterList.Add(newSmoothFilter);
newFilter = newSmoothFilter;
break;
}
case FilterType.Kalman:
{
KalmanNoiseFilter newKalmanFilter = new KalmanNoiseFilter();
newKalmanFilter.SetParameters(1, 1, 0.02f, 1, 0.02f, 0.0f);
filterList.Add(newKalmanFilter);
newFilter = newKalmanFilter;
break;
}
case FilterType.KalmanVelocity:
{
KalmanVelocityNoiseFilter newKalmanFilter = new KalmanVelocityNoiseFilter();
newKalmanFilter.SetParameters(1, 1, 0.02f, 1, 0.02f, 0.0f);
filterList.Add(newKalmanFilter);
newFilter = newKalmanFilter;
break;
}
case FilterType.SavitzkyGolay:
{
break;
}
case FilterType.FIR:
{
break;
}
case FilterType.Median:
{
MedianFilterWrapper newFilterW = new MedianFilterWrapper();
newFilterW.SetParameters(9);
filterList.Add(newFilterW);
newFilter = newFilterW;
break;
}
}
if (updateUI && FilterUI.Instance != null)
{
FilterUI.Instance.InitChartForKey(key);
}
return(newFilter);
}
