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77 lines
2.0 KiB
77 lines
2.0 KiB
namespace Mapbox.Unity.Location
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{
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using Mapbox.Utils;
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using System;
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using UnityEngine;
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/// <summary>
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/// Base class for implementing different smoothing strategies
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/// </summary>
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public abstract class AngleSmoothingAbstractBase : MonoBehaviour, IAngleSmoothing
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{
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[SerializeField]
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[Tooltip("Number of measurements used for smoothing. Keep that number as low as feasible as collection of measurements depends on update time of location provider (minimum 500ms). eg 6 smoothes over the last 3 seconds.")]
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[Range(5, 20)]
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public int _measurements = 5;
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public AngleSmoothingAbstractBase()
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{
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_angles = new CircularBuffer<double>(_measurements);
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}
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/// <summary>
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/// Internal storage for latest 'n' values. Latest value at [0], <see cref="Mapbox.Utils.CircularBuffer{T}"/>
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/// </summary>
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protected CircularBuffer<double> _angles;
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/// <summary>
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/// For conversions from degrees to radians needed for Math functions.
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/// </summary>
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protected readonly double DEG2RAD = Math.PI / 180.0d;
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/// <summary>
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/// For conversions from radians to degrees.
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/// </summary>
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protected readonly double RAD2DEG = 180.0d / Math.PI;
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/// <summary>
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/// Add angle to list of angles used for calculation.
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/// </summary>
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/// <param name="angle"></param>
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public void Add(double angle)
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{
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// safe measures to stay within [0..<360]
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angle = angle < 0 ? angle + 360 : angle >= 360 ? angle - 360 : angle;
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_angles.Add(angle);
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}
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/// <summary>
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/// Calculate smoothed angle from previously added angles.
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/// </summary>
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/// <returns>Smoothed angle</returns>
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public abstract double Calculate();
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[System.Diagnostics.Conditional("UNITY_EDITOR")]
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protected void debugLogAngle(double raw, double smoothed)
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{
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double debugAngle = Math.Atan2(Math.Sin(smoothed * DEG2RAD), Math.Cos(smoothed * DEG2RAD)) * RAD2DEG;
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debugAngle = debugAngle < 0 ? debugAngle + 360 : debugAngle >= 360 ? debugAngle - 360 : debugAngle;
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Debug.Log(string.Format("{0:0.000} => {1:0.000}", raw, smoothed));
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}
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}
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}
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