Cambio posizione aggoirnamento dati (da concludere)

build/.cmake/api/v1/reply/index-2026-06-04T16-14-38-0131.json

@@ -1,132 +0,0 @@
-{
-	"cmake" : 
-	{
-		"generator" : 
-		{
-			"multiConfig" : false,
-			"name" : "Unix Makefiles"
-		},
-		"paths" : 
-		{
-			"cmake" : "/usr/bin/cmake",
-			"cpack" : "/usr/bin/cpack",
-			"ctest" : "/usr/bin/ctest",
-			"root" : "/usr/share/cmake-4.2"
-		},
-		"version" : 
-		{
-			"isDirty" : false,
-			"major" : 4,
-			"minor" : 2,
-			"patch" : 3,
-			"string" : "4.2.3",
-			"suffix" : ""
-		}
-	},
-	"objects" : 
-	[
-		{
-			"jsonFile" : "codemodel-v2-1d54dc62b65d9b1e65df.json",
-			"kind" : "codemodel",
-			"version" : 
-			{
-				"major" : 2,
-				"minor" : 9
-			}
-		},
-		{
-			"jsonFile" : "cache-v2-374534acf1e5fd169877.json",
-			"kind" : "cache",
-			"version" : 
-			{
-				"major" : 2,
-				"minor" : 0
-			}
-		},
-		{
-			"jsonFile" : "cmakeFiles-v1-e320a106f03fb9214dd8.json",
-			"kind" : "cmakeFiles",
-			"version" : 
-			{
-				"major" : 1,
-				"minor" : 1
-			}
-		},
-		{
-			"jsonFile" : "toolchains-v1-f6f24f4dd93f5f594387.json",
-			"kind" : "toolchains",
-			"version" : 
-			{
-				"major" : 1,
-				"minor" : 0
-			}
-		}
-	],
-	"reply" : 
-	{
-		"client-vscode" : 
-		{
-			"query.json" : 
-			{
-				"requests" : 
-				[
-					{
-						"kind" : "cache",
-						"version" : 2
-					},
-					{
-						"kind" : "codemodel",
-						"version" : 2
-					},
-					{
-						"kind" : "toolchains",
-						"version" : 1
-					},
-					{
-						"kind" : "cmakeFiles",
-						"version" : 1
-					}
-				],
-				"responses" : 
-				[
-					{
-						"jsonFile" : "cache-v2-374534acf1e5fd169877.json",
-						"kind" : "cache",
-						"version" : 
-						{
-							"major" : 2,
-							"minor" : 0
-						}
-					},
-					{
-						"jsonFile" : "codemodel-v2-1d54dc62b65d9b1e65df.json",
-						"kind" : "codemodel",
-						"version" : 
-						{
-							"major" : 2,
-							"minor" : 9
-						}
-					},
-					{
-						"jsonFile" : "toolchains-v1-f6f24f4dd93f5f594387.json",
-						"kind" : "toolchains",
-						"version" : 
-						{
-							"major" : 1,
-							"minor" : 0
-						}
-					},
-					{
-						"jsonFile" : "cmakeFiles-v1-e320a106f03fb9214dd8.json",
-						"kind" : "cmakeFiles",
-						"version" : 
-						{
-							"major" : 1,
-							"minor" : 1
-						}
-					}
-				]
-			}
-		}
-	}
-}

src/pieces/headers/piece_interface.hpp

@@ -32,7 +32,7 @@ class PieceInterface{
         rb::rigidbody body;
         sf::Color color;
 
-        virtual void update(sf::Clock cl) = 0;
+        virtual void update(unsigned int pos) = 0;
         virtual sf::Shape* draw(ReferencePlane plane) = 0;
         virtual ~PieceInterface(){}
 };

src/pieces/headers/sensore.hpp

@@ -18,8 +18,8 @@ class Sensore : public PieceInterface{
 
         //in che punto sto controllando il segnale 
         unsigned int dataPos;
-        unsigned int dataIntvl; 
+        std::vector<int> dataIntvl; 
-        
+        unsigned int curTime;
 
         //funzioni ausiliarie
         void calcRotWithG(unsigned int index);
@@ -27,14 +27,16 @@ class Sensore : public PieceInterface{
 
     public: 
         Sensore(rb::Vector3 coords, _Float16 mass);
-        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data);
+        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, int min, int max, std::vector<std::vector<float>> data);
         ~Sensore();
 
-        void update(sf::Clock cl) override;
+        void update(unsigned int pos) override;
         sf::Shape* draw(ReferencePlane plane) override;
 
         //funzioni specifiche
         void initCSV(std::vector<std::vector<float>> data);
+        void setIntervall(int min, int max);
+        void setPos(int &pos);
 
 };
 

src/pieces/methods/sensore_class.cpp

@@ -9,10 +9,11 @@ Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
     initialize_shapes(sensore_Dim);
 }
 
-Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, unsigned int dataIntvl, std::vector<std::vector<float>> data) : Sensore(coords, mass){
+Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, int min, int max, std::vector<std::vector<float>> data) : Sensore(coords, mass){
         dataPos = st;
-        this->dataIntvl = dataIntvl;
+        this->dataIntvl = {min, max};
         initCSV(data);
+        curTime = 0;
 }
 
 
@@ -45,7 +46,14 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
 
 void Sensore::update(sf::Clock cl){
     // Aggiorno la posizione nei dati
-    int64_t currTime = cl.getElapsedTime().asMicroseconds() *100000;
+    curTime += cl.getElapsedTime().asMilliseconds(); 
+    /*
+    if (timeData[dataPos]){
+
+    }
+    */
+   
+    /*
     if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione
         dataPos++;
 
@@ -56,6 +64,7 @@ void Sensore::update(sf::Clock cl){
         body.setAcc(rb::Vector3{accData[dataPos]});
         body.step(cl);
     }
+    */
 
 }
 
@@ -108,9 +117,14 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
     body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });
 
 }
-/*
-void Sensore::calcRotWithConstraint(){
 
-};*/
+void Sensore::setIntervall(int min, int max){
+    this->dataIntvl = {min, max};
+}
+
+void Sensore::setPos(int &pos){
+    this->dataPos = pos;
+}
+
 
 /////////////// cinematica inversa

src/sfml_util.cpp

@@ -34,16 +34,20 @@ struct State
     sf::Vector2i mouse_pos;
 
     /// per settare l'ntervallo di visualizzazione
-    unsigned int pos = 0;
+    unsigned int* pos ;
-    unsigned int intervalMajLimit = 1000;
+    unsigned int* intervalMajLimit ;
-    unsigned int intervalMinLimit = 0;
+    unsigned int* intervalMinLimit ;
-    unsigned int maxEntries = 10000;
+    unsigned int maxEntries = 1000;
+    bool play = true;
 
-    State(unsigned w, unsigned h, std::string title) 
+    State(unsigned w, unsigned h, std::string title, unsigned int* maj, unsigned int* min, unsigned int* pos) 
     {
         window = sf::RenderWindow(sf::VideoMode({w, h}), title);
         ImGui::SFML::Init(window);
         clock.restart();
+        intervalMajLimit = maj;
+        intervalMinLimit = min;
+        this->pos = pos; 
     }
     void update();
     void setIntervall(int n){
@@ -61,7 +65,7 @@ void State::update(){
     
 
     for(PieceInterface* p : pieces){
-        p->update(clock);
+        p->update(*pos);
     }
     for(JointInterface* j : joints){
         j->movechild();
@@ -207,13 +211,13 @@ void doGUI(State &gs)
     ImGui::ShowDemoWindow();
     ImGui::Begin("Set data position");
     ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.3);
-    ImGui::SliderScalar("Min", ImGuiDataType_U32 ,&gs.intervalMinLimit,&zero,&gs.intervalMajLimit);
+    ImGui::SliderScalar("Min", ImGuiDataType_U32 ,gs.intervalMinLimit,&zero,gs.intervalMajLimit);
     ImGui::SameLine();
     ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.5);
-    ImGui::SliderScalar("Pos", ImGuiDataType_U32 ,&gs.pos,&gs.intervalMinLimit,&gs.intervalMajLimit);
+    ImGui::SliderScalar("Pos", ImGuiDataType_U32 ,gs.pos,gs.intervalMinLimit,gs.intervalMajLimit);
     ImGui::SameLine();
     ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x * 0.8);
-    ImGui::SliderScalar("Max", ImGuiDataType_U32 ,&gs.intervalMajLimit,&gs.intervalMinLimit,&gs.maxEntries);
+    ImGui::SliderScalar("Max", ImGuiDataType_U32 ,gs.intervalMajLimit,gs.intervalMinLimit,&gs.maxEntries);
 
     ImGui::End();
 

src/testMain.cpp

@@ -28,8 +28,15 @@ int main() {
         std::cerr << "Error: " << e.what() << std::endl;
     }
 
+    // inizializzo variabili per gestire l'intervallo di visualizzazione
+
+    unsigned int max = 1000;
+    unsigned int min = 0;
+    unsigned int pos = 0;
+    unsigned int maj = 100;
+
     //Costruisco la GUI 
-    State gs(800, 600, "Visualizzatore passo");
+    State gs(800, 600, "Visualizzatore passo",&maj,&min,&pos);
     gs.window.setFramerateLimit(60);
     printf("Costruisco gli oggetti\n");
 
@@ -40,7 +47,7 @@ int main() {
 
 
         gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,3000,coscia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,900,3000,coscia));
         gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
 
         gs.pieces[1]->body.setRot({0,0,0});
@@ -48,7 +55,7 @@ int main() {
 
         processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
         const auto& caviglia = processor.getData();
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),900,3000,caviglia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),900,900,3000,caviglia));
 
         gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
 
@@ -71,10 +78,22 @@ int main() {
         printf("%s\n",e);
     }
     printf("Avvio l'interfaccia grafica\n");
+
+
+    unsigned int curTime;
+    unsigned int freq = 50;
+    const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
+
     //Avvio il loop della GUI
     gs.clock.start();
     while (gs.window.isOpen()) 
     {
+        curTime += gs.clock.getElapsedTime().asMilliseconds();
+        if (curTime > T){
+            curTime = 0;
+            if (gs.play && pos < maj) pos += 1; 
+        }
+
         // Show update
         gs.update();
         doGraphics(gs);