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Copy pathSpeedDifferenceComputer.java
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154 lines (132 loc) · 3.59 KB
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/*
* This file is part of OpenDS (Open Source Driving Simulator).
* Copyright (C) 2015 Rafael Math
*
* OpenDS is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* OpenDS is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with OpenDS. If not, see <http://www.gnu.org/licenses/>.
*/
package eu.opends.tools;
import java.util.ArrayList;
import java.util.List;
import com.jme3.math.FastMath;
/**
* This class represents a computer for differences between the car's speed and
* the maximum allowed speed. The mean deviation (arithmetic average) and standard
* deviation can be computed.
*
* @author Rafael Math
*/
public class SpeedDifferenceComputer
{
private int speedLimit = 0;
private boolean setSpeedLimitToZeroAgain = false;
private List<Float> speedList = new ArrayList<Float>();
private boolean reportSent = false;
/**
* Report, when the speed limit has changed. If the speed limit is changed
* again to unlimited (=0), a report to the log file can be performed.
*
* @param speedLimit
* Speed value to compute difference with car's speed.
*/
public void setSpeedLimit(int speedLimit)
{
if((this.speedLimit != speedLimit) && (speedLimit == 0))
setSpeedLimitToZeroAgain = true;
else
setSpeedLimitToZeroAgain = false;
this.speedLimit = speedLimit;
}
/**
* On every simulation step, the difference between the car's speed and the
* allowed speed will be added to a list.
*
* @param carSpeed
* Speed value of the car.
*/
public void update(float carSpeed)
{
if(speedLimit>0)
speedList.add(carSpeed - speedLimit);
}
/**
* Checks whether a speed difference report for the log file is available.
*
* @return
* True, if a speed difference report is available.
*/
public boolean isReportAvailable()
{
if(!reportSent && setSpeedLimitToZeroAgain && (speedList.size()>0))
{
reportSent = true;
return true;
}
else
return false;
}
/**
* Computes the mean deviation (arithmetic average) of all recorded speed
* differences.
*
* @return
* Mean deviation (arithmetic average) of all speed difference values.
*/
public float getAverageDifference()
{
int size = speedList.size();
if(size>0)
{
float sum = 0;
for(float difference : speedList)
{
sum += difference;
}
return sum/(float)size;
}
else
return 0;
}
/**
* Computes the standard deviation of all recorded speed differences.
*
* @return
* Standard deviation of all speed difference values.
*/
public float getStandardDeviation()
{
int size = speedList.size();
if(size>0)
{
float avg = getAverageDifference();
float sum = 0;
for(float difference : speedList)
{
sum += FastMath.sqr(difference-avg);
}
return FastMath.sqrt(sum/(float)size);
}
else
return 0;
}
/**
* Resets the speed difference computer for the next speed limit segment.
*/
public void reset()
{
speedLimit = 0;
setSpeedLimitToZeroAgain = false;
speedList.clear();
reportSent = false;
}
}