update()

template<typename T >

void MayaFlux::Kinesis::MotionChannel< T >::update ( const T &  raw_sample, double  dt  )

inline

Feed one raw sample, denoise it, and push the cleaned value.

Parameters

raw_sample	Raw value for this step
dt	Elapsed time since the previous sample; stored for use by derivative<N>() and curvature() so the caller does not have to pass it again at every read

Definition at line 143 of file MotionChannel.hpp.

    {
        m_last_dt = dt;
        ++m_generation;
        const auto raw_components = read_components(raw_sample);
        std::array<double, component_count> clean_components {};
        for (size_t i = 0; i < component_count; ++i) {
            m_estimates[i].update(raw_components[i]);
            clean_components[i] = m_estimates[i].value();
        }
        const T clean = assemble_from_components<T>(clean_components);
        m_history.push(clean);
 
        if constexpr (std::is_same_v<T, glm::vec2>) {
            if (m_trajectory_2d)
                m_trajectory_2d->update(clean);
        }
        if constexpr (std::is_same_v<T, glm::vec3>) {
            if (m_trajectory_3d)
                m_trajectory_3d->update(clean);
        }
    }

References MayaFlux::Kinesis::MotionChannel< T >::component_count, MayaFlux::Kinesis::MotionChannel< T >::m_estimates, MayaFlux::Kinesis::MotionChannel< T >::m_generation, MayaFlux::Kinesis::MotionChannel< T >::m_history, MayaFlux::Kinesis::MotionChannel< T >::m_last_dt, MayaFlux::Kinesis::MotionChannel< T >::m_trajectory_2d, MayaFlux::Kinesis::MotionChannel< T >::m_trajectory_3d, and MayaFlux::Kinesis::read_components().

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