NovaBryan/EVE_Dump
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numerical.py (3516B)

      1 #Embedded file name: C:\BuildAgent\work\20d73f1b24eed06e\eve\release\V24.01\carbon\common\script\util\numerical.py
      2 from carbon.common.script.util import linalg
      3 import log
      4 from eveprefs import prefs
      5 
      6 class KalmanFilter(object):
      7     __slots__ = ['A',
      8      'B',
      9      'B1',
     10      'C',
     11      'M',
     12      'q']
     13 
     14     def __init__(self, A, B, B1, C):
     15         self.A, self.B, self.B1, self.C = (A,
     16          B,
     17          B1,
     18          C)
     19         self.M = linalg.Matrix.I(A.dim[0])
     20         self.q = linalg.Matrix.Ones((A.dim[0], 1))
     21 
     22     def NextG(self, Rv, Rw):
     23         G = self.M * self.C.Trans() / (self.C * self.M * self.C.Trans() + Rv)
     24         P = self.M - G * self.C * self.M
     25         self.M = self.A * P * self.A.Trans() + self.B1 * Rw * self.B1.Trans()
     26         return G
     27 
     28     def StepG(self, y, u, G):
     29         if self.B:
     30             qbar = self.A * self.q + self.B * u
     31         else:
     32             qbar = self.A * self.q
     33         self.q = qbar + G * (y - self.C * qbar)
     34         return self.q
     35 
     36     def Step(self, y, u, Rv, Rw):
     37         return self.StepG(y, u, self.NextG(Rv, Rw))
     38 
     39 
     40 class KalmanFilterSS(KalmanFilter):
     41     __slots__ = ['G']
     42 
     43     def __init__(self, A, B, B1, C, Rv, Rw, n = 100, f = 0.001):
     44         KalmanFilter.__init__(self, A, B, B1, C)
     45         self.G = self.SteadyG(Rv, Rw, n)
     46 
     47     def SteadyG(self, Rv, Rw, n = 100, f = 0.001):
     48         self.G = self.NextG(Rv, Rw)
     49         for i in xrange(n):
     50             old = self.G
     51             self.G = self.NextG(Rv, Rw)
     52             d = old - self.G
     53             if abs(d) <= f * abs(self.G):
     54                 break
     55 
     56         return self.G
     57 
     58     def Step(self, y, u):
     59         return self.StepG(y, u, self.G)
     60 
     61 
     62 import blue
     63 
     64 class FrameClock(object):
     65     __slots__ = ['factor',
     66      'threshold',
     67      'filter',
     68      '__t0',
     69      'lastTime',
     70      'value',
     71      'step']
     72 
     73     def __init__(self):
     74         A = linalg.Matrix((2, 2), [1.0,
     75          1.0,
     76          0.0,
     77          1.0])
     78         B = None
     79         B1 = linalg.Matrix((2, 1), [1.0, 1.0])
     80         C = linalg.Matrix((1, 2), [1.0, 0.0])
     81         self.factor = prefs.GetValue('frameClockFactor', 100000.0)
     82         self.threshold = prefs.GetValue('frameClockThreshold', 1.0)
     83         self.threshold = long(self.threshold * 10000000.0)
     84         self.filter = KalmanFilterSS(A, B, B1, C, self.factor, 1.0)
     85         self.t0 = blue.os.GetWallclockTimeNow()
     86         self.lastTime = 0
     87         self.step = 0
     88         self.filter.q[0] = 0.0
     89         self.filter.q[1] = 1.0 / 50
     90 
     91     @property
     92     def t0(self):
     93         return self.__t0
     94 
     95     @t0.setter
     96     def t0(self, value):
     97         if not isinstance(value, long):
     98             log.LogTraceback('Tried to set t0 to something else than long')
     99             value = long(value)
    100         self.__t0 = value
    101 
    102     def Rebase(self, t = None):
    103         self.t0 = t or blue.os.GetWallclockTimeNow()
    104         self.filter.q[0] = 0.0
    105         self.lastTime = self.t0
    106 
    107     def Sample(self):
    108         rt = blue.os.GetWallclockTimeNow()
    109         t = (rt - self.t0) * 1e-07
    110         q = self.filter.Step(t, None)
    111         self.step += 1
    112         t = self.t0 + long(q[0] * 10000000.0)
    113         if self.step < 20:
    114             t = rt
    115         elif rt - t > self.threshold:
    116             t = rt
    117             self.Rebase(rt)
    118         if t < self.lastTime:
    119             t = self.lastTime
    120         self.lastTime = t
    121         self.value = (t, 1.0 / q[1])
    122         return self.value
    123 
    124     def SetFactor(self, factor):
    125         self.factor = factor
    126         self.filter.SteadyG(self.factor, 1.0)
    127 
    128     def GetFactor(self):
    129         return self.factor