VI.cpp - master - otec_infi_666/PROGRAMKI

VI.cpp
80 строк2 KB
otec_infi_666
Create: VI.cpp
26 июл 2026, 22:57
26 июл 2026, 22:57a890dd9
#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include <iomanip>
using namespace std;

struct SensorData {
    double time;
    double wx;
    double wy;
    double wz;
};

vector<SensorData> applyMovingAverage(const vector<SensorData>& data, size_t windowSize) 
{
    vector<SensorData> result;
    if (data.empty() || windowSize == 0) 
    {
        return result;
    }

    result.reserve(data.size());
    double sum_wx = 0.0, sum_wy = 0.0, sum_wz = 0.0;
    size_t currentWindowElements = 0;
    for (size_t i = 0; i < data.size(); ++i) 
    {
        sum_wx += data[i].wx;
        sum_wy += data[i].wy;
        sum_wz += data[i].wz;
        currentWindowElements++;
        if (currentWindowElements > windowSize) 
        {
            sum_wx -= data[i - windowSize].wx;
            sum_wy -= data[i - windowSize].wy;
            sum_wz -= data[i - windowSize].wz;
            currentWindowElements--;
        }
        SensorData avgData;
        avgData.time = data[i].time;
        avgData.wx = sum_wx / currentWindowElements;
        avgData.wy = sum_wy / currentWindowElements;
        avgData.wz = sum_wz / currentWindowElements;
        result.push_back(avgData);
    }
    return result;
}

int main() {
    string inputFilename = "IMU.txt";  
    string outputFilename = "result.txt"; 

    ifstream inputFile(inputFilename);
    if (!inputFile.is_open()) {
        return 666;
    }
    string dummyLine;
    getline(inputFile, dummyLine);
    getline(inputFile, dummyLine);

    vector<SensorData> rawData;
    double t, ax, ay, az, wx, wy, wz;
    vector<double> psi, gamma, teta;
    while (inputFile >> t >> ax >> ay >> az >> wx >> wy >> wz) {
        rawData.push_back({ t, wx, wy, wz });
    }
    inputFile.close();
    cout << "Считано строк: " << rawData.size() << "\n";
    size_t windowSize = 100;

    vector<SensorData> smoothedData = applyMovingAverage(rawData, windowSize);
    
    for (size_t i = 0; i < rawData.size(); ++i)
    {
        psi[i] = atan(rawData[i].wz / rawData[i].wx);
        gamma[i] = atan(rawData[i].wz / rawData[i].wy);
        teta[i] = atan(rawData[i].wx / rawData[i].wy);
    }
    return 0;
}