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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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20
tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
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@@ -30,8 +30,8 @@ static ImPlotPoint Getter(int idx, void* data) {
template <typename Model>
static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
const std::vector<PreparedData>& data,
const std::array<wpi::units::second_t, 4>& startTimes, size_t step, Model model,
double* simSquaredErrorSum, double* squaredVariationSum,
const std::array<wpi::units::second_t, 4>& startTimes, size_t step,
Model model, double* simSquaredErrorSum, double* squaredVariationSum,
int* timeSeriesPoints) {
// Create the vector of ImPlotPoints that will contain our simulated data.
std::vector<std::vector<ImPlotPoint>> pts;
@@ -60,7 +60,8 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
continue;
}
model.Update(wpi::units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
model.Update(wpi::units::volt_t{pre.voltage},
now.timestamp - pre.timestamp);
tmp.emplace_back((startTime + t).value(), model.GetVelocity());
*simSquaredErrorSum += std::pow(now.velocity - model.GetVelocity(), 2);
*squaredVariationSum += std::pow(now.velocity, 2);
@@ -128,11 +129,11 @@ void AnalyzerPlot::SetRawData(const Storage& data, std::string_view unit,
SetRawTimeData(slow, fast, abort);
}
void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
std::string_view unit,
const AnalysisManager::FeedforwardGains& ffGains,
const std::array<wpi::units::second_t, 4>& startTimes,
AnalysisType type, std::atomic<bool>& abort) {
void AnalyzerPlot::SetData(
const Storage& rawData, const Storage& filteredData, std::string_view unit,
const AnalysisManager::FeedforwardGains& ffGains,
const std::array<wpi::units::second_t, 4>& startTimes, AnalysisType type,
std::atomic<bool>& abort) {
double simSquaredErrorSum = 0;
double squaredVariationSum = 0;
int timeSeriesPoints = 0;
@@ -361,7 +362,8 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
m_timestepData.fitLine[0] =
ImPlotPoint{minTime.value(), wpi::units::millisecond_t{dtMean}.value()};
auto maxTime = wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
auto maxTime =
wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
m_timestepData.fitLine[1] =
ImPlotPoint{maxTime.value(), wpi::units::millisecond_t{dtMean}.value()};