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Use Simpson's rule for speed integration computation

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This commit is contained in:
Emma Broman
2020-10-30 09:57:07 +01:00
parent f982e9962b
commit ba3f5124f1
1 changed files with 8 additions and 9 deletions
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17
modules/autonavigation/speedfunction.cpp
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@@ -24,6 +24,7 @@
#include <modules/autonavigation/speedfunction.h>
#include <modules/autonavigation/helperfunctions.h>
#include <ghoul/logging/logmanager.h>
#include <ghoul/misc/easing.h>
#include <algorithm>
@@ -49,15 +50,13 @@ double SpeedFunction::scaledValue(double time, double duration, double pathLengt
}
void SpeedFunction::initIntegratedSum() {
// apply duration constraint (eq. 14 in Eberly)
double speedSum = 0.0;
int steps = 100;
double h = 1.0 / steps;
for (double t = 0.0; t <= 1.0; t += h) {
double midpointSpeed = 0.5 * (value(t + 0.5*h) + value(t - 0.5*h));
speedSum += h * midpointSpeed;
}
_integratedSum = speedSum;
const int steps = 100;
_integratedSum = helpers::simpsonsRule(
0.0,
1.0,
steps,
[this](double t) { return value(t); }
);
}
SexticDampenedSpeed::SexticDampenedSpeed() {