diff bayesianArraySrc/BayesianArrayStructure.cpp @ 10:cbadb9d05d29

Using timestamps for the scrolling alignment time

--- a/bayesianArraySrc/BayesianArrayStructure.cpp	Fri Feb 03 17:53:14 2012 +0000
+++ b/bayesianArraySrc/BayesianArrayStructure.cpp	Sat Feb 04 19:59:27 2012 +0000
@@ -211,7 +211,7 @@
 void BayesianArrayStructure::updateBestEstimate(const double& timeDifference){
 //	double timeDiff = ofGetElapsedTimeMillis() - lastEventTime;//
 	double tmp = bestEstimate;
-	printf("best est routine: posterior offset %f\n", posterior.offset);
+//	printf("best est routine: posterior offset %f\n", posterior.offset);
 	
 	double timeDiff = timeDifference;
 	
@@ -232,10 +232,12 @@
 	speedEstimate = relativeSpeedPosterior.getIndexInRealTerms(speedEstimateIndex);
 	bestEstimate = posterior.getIndexInRealTerms(posterior.MAPestimate) + timeDiff*speedEstimate;
 	
-	printf("best estimate update from %f to %f; time diff %f MAP %i = %f ms speed index %f est %f SpeedxTime %f\n", tmp, bestEstimate, timeDiff,
-		   posterior.MAPestimate, posterior.getIndexInRealTerms(posterior.MAPestimate), speedEstimateIndex, speedEstimate, timeDiff*speedEstimate);
+//	printf("best estimate update from %f to %f; time diff %f MAP %i = %f ms speed index %f est %f SpeedxTime %f\n", tmp, bestEstimate, timeDiff,
+//		   posterior.MAPestimate, posterior.getIndexInRealTerms(posterior.MAPestimate), speedEstimateIndex, speedEstimate, timeDiff*speedEstimate);
+	printf("BEST ESTIMATE %f\n", bestEstimate);
 }
 
+
 void BayesianArrayStructure::calculatePosterior(){
 	//posterior.doProduct(prior, likelihood);
 	assert(posterior.offset == prior.offset);
@@ -284,7 +286,7 @@
 //	int tmpMap = bayesianStruct.posterior.getMAPestimate();
 	
 	double timeDifference = newEventTime - lastEventTime; 
-//	printf("updating distributions at time %f diff %f offset %f tmpmap est %i\n", newEventTime, timeDifference, bayesianStruct.posterior.offset, tmpMap);
+	printf("updating distributions at time %f diff %f offset %f\n", newEventTime, timeDifference, posterior.offset);
 	
 	//addnoise to the tempo distribution
 	//bayesianStruct.decaySpeedDistribution(timeDifference);
@@ -314,6 +316,8 @@
 }
 
 
+
+
 void BayesianArrayStructure::crossUpdateArrays(DynamicVector& position, DynamicVector& speed, double timeDifference){
 
 	//set the cutoff for offset of position first! XXX
@@ -657,6 +661,155 @@
 	printf(" MAP index %i post offset %f == %f ms\n", posterior.MAPestimate, posterior.offset, posterior.getIndexInRealTerms(posterior.MAPestimate));
 }
 
+//PROJECT PRIOR CODE
+/*
+void BayesianArrayStructure::projectDistribution(const double& newEventTime, DynamicVector& projectedPrior){
+	
+	projectedPrior.copyFromDynamicVector(posterior);
+
+	double timeDifference = newEventTime - lastEventTime; 
+	
+//	if (timeDifference > 50 && updatingSpeedDistribution){
+//		addGaussianNoiseToSpeedPosterior(timeDifference * 10.0 / 100.);
+//	}
+
+	
+	updateBestEstimate(timeDifference);
+	lastBestEstimateUpdateTime = newEventTime;//getTimeNow(timePlayed);
+	
+	//set TARGETS - commented tenmporarily
+	setNewDistributionOffsets(max(0., bestEstimate - (prior.scalar*prior.arraySize/2)));
+	
+	crossUpdateArrays(posterior, relativeSpeedPosterior, timeDifference);
+	
+	//i.e. using the same offset as prior
+	posterior.offset = prior.offset;// 
+	
+	//	float tmpPrior = max(0., bestEstimate - (prior.scalar*prior.arraySize/2));//	prior.offset = max(0., bestEstimate - (prior.scalar*prior.arraySize/2));
+	//	printf("Using prior offset of %f not %f\n", tmpPrior, prior.offset);
+	
+	lastEventTime = newEventTime;//lastEventTime = ofGetElapsedTimeMillis();
+	
+}
+
+
+
+
+void BayesianArrayStructure::crossUpdateArrays(DynamicVector& position, DynamicVector& speed, double timeDifference){
+	
+	//set the cutoff for offset of position first! XXX
+	
+	double timeDifferenceInPositionVectorUnits = timeDifference / prior.scalar;
+	
+	printf("CROSS UPDATE time diff %f ms is %f units; ", timeDifference, timeDifferenceInPositionVectorUnits);
+	prior.zero();//kill prior
+	
+	//	calculateNewPriorOffset(timeDifference);//dioesnt do anything
+	
+	//	printf("new prior offset %f and post offset %f\n", prior.offset, posterior.offset);
+	
+	if (timeDifferenceInPositionVectorUnits > crossUpdateTimeThreshold)
+		complexCrossUpdate(timeDifferenceInPositionVectorUnits);
+	else
+		translateByMaximumSpeed(timeDifferenceInPositionVectorUnits);	
+	
+	
+	updateCounter++;
+	prior.renormalise();//not strictly necessary??
+	
+}
+
+void BayesianArrayStructure::complexCrossUpdate(const double& timeDifferenceInPositionVectorUnits){
+	
+	
+	printf("before cross c : posterior map is %i = %f ms time diff pos vec %f\n", posterior.getMAPestimate(), posterior.getIndexInRealTerms(prior.getMAPestimate()), timeDifferenceInPositionVectorUnits);
+	
+	int distanceMoved, newPriorIndex;
+	
+	double speedValue = relativeSpeedPosterior.offset;
+	
+	for (int i = 0;i < relativeSpeedPosterior.arraySize;i++){
+		
+		//	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(i);//so for scalar 0.01, 50 -> speed value of 0.5
+		
+		//so we have moved 
+		distanceMoved = round(timeDifferenceInPositionVectorUnits * speedValue);//round the value
+		//	printf("Speed value %f time %f gives distance %i\n", speedValue, timeDifferenceInPositionVectorUnits, distanceMoved);
+		
+		if (relativeSpeedPosterior.array[i] != 0){
+			
+			double speedContribution = relativeSpeedPosterior.array[i];
+			
+			//	printf("speed [%i](val[%f]) gives %f moved %i in %f units \n", i, relativeSpeedPosterior.array[i], speedValue, distanceMoved, timeDifferenceInPositionVectorUnits);
+			
+			//1/2/12 deleted line
+			newPriorIndex = posterior.offset - prior.offset + distanceMoved;//i.e. where post[0] goes to in terms of prior at this speed
+			int postIndex = 0;//index of posterior that will contribute
+			
+			while (postIndex < posterior.arraySize && newPriorIndex < prior.arraySize){
+				
+				//did use a for loop
+				//	for (postIndex = 0;postIndex < posterior.arraySize;postIndex++){
+				//old posterior contributing to new prior
+				
+				//would use this method
+				//newPriorIndex = postIndex + posterior.offset - prior.offset + distanceMoved;
+				
+				if (newPriorIndex >= 0){
+					prior.addToIndex(newPriorIndex, posterior.array[postIndex]*speedContribution);
+					//		printf("speed index %i new prior index %i post val %f speed contrib %f dist %i\n", i, newPriorIndex, posterior.array[postIndex], speedContribution, distanceMoved);
+				}
+				//but we actually do this for simplicity
+				newPriorIndex++;
+				postIndex++;
+			}//end for. now while
+			
+			
+		}//if not zero
+		
+		speedValue += relativeSpeedPosterior.scalar;//optimised line
+		//as we wanted:
+		//	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(i);//so for scalar 0.01, 50 -> speed value of 0.5
+		
+	}//end speed
+	
+	
+	printf("after cross c : prior map is %i = %f ms\n", prior.getMAPestimate(), prior.getIndexInRealTerms(prior.getMAPestimate()));
+}
+
+
+
+void BayesianArrayStructure::translateByMaximumSpeed(const double& timeDifferenceInPositionVectorUnits){
+	
+	
+	int distanceMoved, newPriorIndex;
+	double speedIndex = getSpeedEstimateIndex();
+	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(speedIndex);
+	
+	//	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(relativeSpeedPosterior.integratedEstimate);
+	
+	//so for scalar 0.01, 50 -> speed value of 0.5
+	double speedContribution = relativeSpeedPosterior.array[(int)round(speedIndex)];
+	//so we have moved 
+	distanceMoved = round(timeDifferenceInPositionVectorUnits * speedValue);//round the value
+	
+	//	printf("speed [%i] gives %f moved %i in %f units \n", i, speedValue, distanceMoved, timeDifferenceInPositionVectorUnits);
+	
+	for (int postIndex = 0;postIndex < posterior.arraySize;postIndex++){
+		//old posterior contributing to new prior
+		newPriorIndex = postIndex + posterior.offset - prior.offset + distanceMoved;
+		if (newPriorIndex >= 0 && newPriorIndex < prior.arraySize){
+			prior.addToIndex(newPriorIndex, posterior.array[postIndex]*speedContribution);
+		}
+		
+	}
+	
+}
+ */
+
+//END PROJECT PRIOR CODE
+
+
 /*
  
  void BayesianArrayStructure::updateTempoDistribution(const double& speedRatio, const double& matchFactor){