[scripts] Add OwlPS::{CSV,TimeInterpolation}
Add Perl modules OwlPS::CSV and OwlPS::TimeInterpolation.
This commit is contained in:
Matteo Cypriani
parent
8ef5a55b07
commit
9073013997
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# This file is part of the Owl Positioning System (OwlPS) project. It is
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# subject to the copyright notice and license terms in the COPYRIGHT.t2t file
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# found in the top-level directory of this distribution and at
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# http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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# No part of the OwlPS Project, including this file, may be copied, modified,
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# propagated, or distributed except according to the terms contained in the
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# COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be distributed along with this
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# file, either separately or by replacing this notice by the COPYRIGHT.t2t
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# file's contents.
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=head1 NAME
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OwlPS::CSV - manipulate OwlPS CSV strings
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=head1 SYNOPSIS
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use OwlPS::CSV;
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get_field("a;b;c;d", 1); # returns "b"
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update_field("a;b;c", 0, "z"); # returns "z;b;c"
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split_timestamp("42.123456789"); # returns (42, 123456789)
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split_point_2d("4.3;8.1"); # returns (4.3, 8.1)
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split_point_2d("3;8;7"); # returns (3, 8, 7)
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round2(3.14159); # returns "3.14"
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round2(0); # returns "0.00"
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=head1 DESCRIPTION
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The OwlPS::CSV Perl module provides functions to deal with the CSV format used
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in OwlPS. Upon error, all these functions will kill the program. This may change
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in future versions.
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The following functions are provided and exported by default:
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=over
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=cut
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package OwlPS::CSV;
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require Exporter;
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our @ISA = qw(Exporter);
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our @EXPORT = qw(
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get_field
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update_field
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split_timestamp
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split_point_2d
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split_point_3d
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round2
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);
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our $VERSION = 1.00;
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use strict;
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use Carp;
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use Scalar::Util qw(looks_like_number);
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=item get_field($string, $field_idx)
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This function returns the field number $field_idx of the CSV string $string.
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The first field of the string has number 0.
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=cut
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sub get_field($$) {
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my ($string, $field_idx) = @_;
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# Split the line
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my @fields = split(';', $string);
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if (@fields <= $field_idx) {
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croak "Bad number of fields in CSV string \"$string\"";
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}
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return $fields[$field_idx];
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}
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=item update_field($string, $field_idx, $value)
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This function updates the field number $field_idx the CSV string $string with
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$value.
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It returns the modified string ($string is left untouched).
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The first field of the string has number 0.
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=cut
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sub update_field($$$) {
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my ($string, $field_idx, $value) = @_;
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# Split the line
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my @fields = split(';', $string);
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if (@fields <= $field_idx) {
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croak "Bad number of fields in CSV string \"$string\"";
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}
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# Update the corresponding field
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$fields[$field_idx] = $value;
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# Reconstitute the line
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my $newstring = shift @fields;
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foreach my $field (@fields) { $newstring .= ";$field" }
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return $newstring;
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}
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=item split_timestamp($timestamp)
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This function splits a timestamp $timestamp which is a string
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"seconds.nanoseconds".
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It returns an array ($seconds, $nanoseconds).
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=cut
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sub split_timestamp($) {
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my $timestamp = $_[0];
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my ($sec, $nsec) = split('\.', $timestamp, 2);
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foreach ($sec, $nsec) {
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if (!(defined && looks_like_number($_))) {
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croak "Malformed timestamp string \"$timestamp\"";
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}
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}
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if (length($nsec) != 9) {
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croak "Malformed timestamp string \"$timestamp\": the nanosecond field"
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. " must have exactly 9 digits";
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}
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return ($sec, $nsec);
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}
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=item split_point_2d($point)
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This funtion splits the 2-D point $point (string format: "X;Y").
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It returns an array ($x, $y).
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=cut
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sub split_point_2d($) {
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my $point = $_[0];
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my ($x, $y) = split(';', $point, 2);
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foreach ($x, $y) {
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if (!(defined && looks_like_number($_))) {
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croak "Malformed 2-D point string \"$point\"";
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}
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}
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return ($x, $y);
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}
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=item split_point_3d($point)
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This funtion splits the 3-D point $point (string format: "X;Y;Z").
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It returns an array ($x, $y, $z).
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=cut
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sub split_point_3d($) {
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my $point = $_[0];
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my ($x, $y, $z) = split(';', $point, 3);
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foreach ($x, $y) {
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if (!(defined && looks_like_number($_))) {
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croak "Malformed 3-D point string \"$point\"";
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}
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}
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return ($x, $y, $z);
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}
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=item round2($f)
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This function rounds a floating point number $f to two decimals.
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It returns the rounded value of $f as a string.
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=cut
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sub round2($) {
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my $f = $_[0];
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if (!(defined($f) && looks_like_number($f))) {
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croak "Not a valid number \"$f\"";
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}
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return sprintf("%.2f", $f);
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}
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=back
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=head1 COPYING
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This module and its documentation are part of the Owl Positioning System (OwlPS)
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project. They are subject to the copyright notice and license terms in the
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COPYRIGHT.t2t file found in the top-level directory of the OwlPS distribution
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and at http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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=head1 SEE ALSO
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owlps(7)
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=cut
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# vim: tabstop=4:shiftwidth=4:expandtab:textwidth=80
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@ -0,0 +1,334 @@
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# This file is part of the Owl Positioning System (OwlPS) project. It is
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# subject to the copyright notice and license terms in the COPYRIGHT.t2t file
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# found in the top-level directory of this distribution and at
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# http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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# No part of the OwlPS Project, including this file, may be copied, modified,
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# propagated, or distributed except according to the terms contained in the
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# COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be distributed along with this
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# file, either separately or by replacing this notice by the COPYRIGHT.t2t
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# file's contents.
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=head1 NAME
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OwlPS::TimeInterpolation - interpolate timestamped coordinates
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=head1 SYNOPSIS
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use OwlPS::TimeInterpolation;
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interpolate_1d(1, "1368637546.331881794",
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10, "1368637879.566242145",
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"1368637726.677787231");
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interpolate_2d("1;2", "1368637546.331881794",
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"10;5", "1368637879.566242145",
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"1368637726.677787231");
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interpolate_3d("1;2;1", "1368637546.331881794",
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"10;5;2", "1368637879.566242145",
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"1368637726.677787231");
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=head1 DESCRIPTION
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The OwlPS::TimeInterpolation Perl module offers function to interpolate
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timestamped coordinates. Its main functions are interpolate_1d(),
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interpolate_2d() and interpolate_3d() (cf. section L</"Main functions"> below).
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=head2 Helper functions (not exported by default)
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The following functions are provided but not exported by default.
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=cut
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package OwlPS::TimeInterpolation;
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require Exporter;
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our @ISA = qw(Exporter);
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our @EXPORT = qw(
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interpolate_1d
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interpolate_2d
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interpolate_3d
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);
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our @EXPORT_OK = qw(
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timestamp_cmp
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elapsed
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elapsed_sec
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travel_speed
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travel_speed_1d
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distance_travelled
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linear_interpolation
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);
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our $VERSION = 1.00;
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use strict;
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use Carp;
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use OwlPS::CSV;
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use Scalar::Util qw(looks_like_number);
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=head3 Time-related functions
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=over
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=cut
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=item timestamp_cmp($t0, $t1)
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This function compares two timestamps $t0 and $t1, which are strings under the
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format "seconds.nanoseconds".
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It returns:
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=over
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=item * 1 if $t0 is before $t1
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=item * -1 if $t0 is after $t1
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=item * 0 if $t0 and $t1 are equal
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=back
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=cut
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sub timestamp_cmp($$) {
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my ($t0, $t1) = @_;
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my ($t0_sec, $t0_nsec) = split_timestamp($t0);
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my ($t1_sec, $t1_nsec) = split_timestamp($t1);
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# First test the seconds
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if ($t1_sec > $t0_sec) { return 1 }
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if ($t1_sec < $t0_sec) { return -1 }
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# Seconds are equal, test the nanoseconds
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if ($t1_nsec > $t0_nsec) { return 1 }
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if ($t1_nsec < $t0_nsec) { return -1 }
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# Seconds and nanoseconds are equal
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return 0;
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}
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=item elapsed($t0, $t1)
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This function calculates the elapsed time between two timestamps $t0 and $t1
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(string format: "seconds.nanoseconds").
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It returns an array ($seconds, $nanoseconds).
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=cut
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sub elapsed($$) {
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my ($t0, $t1) = @_;
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my ($t0_sec, $t0_nsec) = split_timestamp($t0);
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my ($t1_sec, $t1_nsec) = split_timestamp($t1);
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my $sec = $t1_sec - $t0_sec;
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my $nsec = $t1_nsec - $t0_nsec;
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if ($sec == 0) { return (0, abs($nsec)) }
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if ($sec > 0) {
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if ($nsec >= 0) { return ($sec, $nsec) }
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# $nsec < 0
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return ($sec - 1, $nsec + 1000000000);
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}
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# $sec < 0
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if ($nsec > 0) { return (abs($sec) - 1, 1000000000 - $nsec) }
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# $nsec <= 0
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return (abs($sec), abs($nsec));
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}
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=item elapsed_sec($t0, $t1)
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This function calculates the elapsed time between two timestamps $t0 and $t1, in
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seconds.
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It returns the number of seconds (floating point value).
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=cut
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sub elapsed_sec($$) {
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my ($t0, $t1) = @_;
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my ($t0t1_sec, $t0t1_nsec) = elapsed($t0, $t1);
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my $total_nsec = $t0t1_sec * 1000000000 + $t0t1_nsec;
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return $total_nsec / 1000000000;
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}
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=back
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=head3 Distance and speed-related functions
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=over
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=cut
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=item travel_speed($start_time, $stop_time, $distance)
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This function returns the movement speed, given two timestamp $start_time and
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$stop_time and a travelled distance $distance.
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=cut
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sub travel_speed($$$) {
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my ($start_time, $stop_time, $distance) = @_;
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my $time_elapsed = elapsed_sec($start_time, $stop_time);
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return $distance / $time_elapsed;
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}
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=item travel_speed_1d($start_point, $start_time, $stop_point, $stop_time)
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This function returns the movement speed between two coordinates (1-D points),
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given the start position $start_point at a timestamp $start_time, and the stop
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position $stop_point at a timestamp $stop_time.
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=cut
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sub travel_speed_1d($$$$) {
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my ($start_point, $start_time, $stop_point, $stop_time) = @_;
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if (!looks_like_number($start_point) || !looks_like_number($stop_point)) {
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croak "1-D coordinates must be numbers";
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}
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my $distance_travelled = abs($stop_point - $start_point);
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return travel_speed($start_time, $stop_time, $distance_travelled);
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}
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=item distance_travelled($start_time, $stop_time, $speed)
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This function returns the distance travelled between two timestamps $start_time
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and $stop_time, given the movement speed $speed.
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=cut
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sub distance_travelled($$$) {
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my ($start_time, $stop_time, $speed) = @_;
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my $time_travelled = elapsed_sec($start_time, $stop_time);
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return $time_travelled * $speed;
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}
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=back
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=head3 Interpolation-related functions
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=over
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=cut
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=item linear_interpolation($start_point, $stop_point, $distance)
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Given two 1-D coordinates $start_point and $stop_point, this function computes
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the interpolated coordinate at $distance from $start_point in the direction of
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$stop_point.
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It returns the interpolated 1-D coordinate.
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=cut
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sub linear_interpolation($$$) {
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my ($start_point, $stop_point, $distance) = @_;
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if (!looks_like_number($start_point) || !looks_like_number($stop_point)) {
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croak "1-D coordinates must be numbers";
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}
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if ($start_point <= $stop_point) {
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return $start_point + $distance;
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}
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return $start_point - $distance;
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}
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=back
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=head2 Main functions
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The following functions are exported by default.
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=over
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=cut
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=item interpolate_1d($start_point, $start_time, $stop_point, $stop_time, $time)
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Given two 1-D coordinates $start_point and $stop_point with their associated
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timestamps $start_time and $stop_time, and an additional timestamp $time, this
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function computes the coordinates associated with this additional timestamp. A
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constant pace is assumed between the two timestamped coordinates. $time should
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be after the $start_time, and can also be after $stop_time.
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The interpolated coordinate is returned.
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=cut
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sub interpolate_1d($$$$$) {
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my ($start_point, $start_time, $stop_point, $stop_time, $time) = @_;
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# Check the timestamps
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if (timestamp_cmp($start_time, $stop_time) <= 0) {
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croak "\$start_time must be before \$stop_time";
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}
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if (timestamp_cmp($start_time, $time) < 0) {
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croak "\$start_time must be equal or before \$time";
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}
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# Compute the travel speed between the two known points
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my $speed =
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travel_speed_1d($start_point, $start_time, $stop_point, $stop_time);
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# Compute the distance travelled between `start_point` and the point
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# to interpolate
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my $distance = distance_travelled($start_time, $time, $speed);
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# Compute and return the interpolated coordinates
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return linear_interpolation($start_point, $stop_point, $distance);
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}
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=item interpolate_2d($start_point, $start_time, $stop_point, $stop_time, $time)
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This function is similar to interpolate_1d(), but works with 2-D coordinates:
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$start_point and $stop_point must be strings "X;Y".
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It returns an array ($x, $y) representing the interpolated point.
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=cut
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sub interpolate_2d($$$$$) {
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my ($start_point, $start_time, $stop_point, $stop_time, $time) = @_;
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my ($start_x, $start_y) = split_point_2d($start_point);
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my ($stop_x, $stop_y) = split_point_2d($stop_point);
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return (
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interpolate_1d($start_x, $start_time, $stop_x, $stop_time, $time),
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interpolate_1d($start_y, $start_time, $stop_y, $stop_time, $time)
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);
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}
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=item interpolate_3d($start_point, $start_time, $stop_point, $stop_time, $time)
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This function is similar to interpolate_1d() and interpolate_2d(), but works
|
||||
with 3-D coordinates: $start_point and $stop_point must be strings "X;Y;Z".
|
||||
It returns an array ($x, $y, $z) representing the interpolated point.
|
||||
=cut
|
||||
sub interpolate_3d($$$$$) {
|
||||
my ($start_point, $start_time, $stop_point, $stop_time, $time) = @_;
|
||||
|
||||
my ($start_x, $start_y, $start_z) = split_point_3d($start_point);
|
||||
my ($stop_x, $stop_y, $stop_z) = split_point_3d($stop_point);
|
||||
|
||||
return (
|
||||
interpolate_1d($start_x, $start_time, $stop_x, $stop_time, $time),
|
||||
interpolate_1d($start_y, $start_time, $stop_y, $stop_time, $time),
|
||||
interpolate_1d($start_z, $start_time, $stop_z, $stop_time, $time)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
=back
|
||||
|
||||
=head1 COPYING
|
||||
|
||||
This module and its documentation are part of the Owl Positioning System (OwlPS)
|
||||
project. They are subject to the copyright notice and license terms in the
|
||||
COPYRIGHT.t2t file found in the top-level directory of the OwlPS distribution
|
||||
and at http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
|
||||
|
||||
|
||||
=head1 SEE ALSO
|
||||
|
||||
owlps(7)
|
||||
|
||||
=cut
|
||||
|
||||
|
||||
# vim: tabstop=4:shiftwidth=4:expandtab:textwidth=80
|
||||
Loading…
Reference in New Issue