modularization/src/decition/decition_fromautoware/lookuptable.cpp

#include "lookuptable.h"

LookupTable::LookupTable()
{
    std::vector<std::tuple<double, double, double>> xvectortable_torque,xvectortable_brake;
    QFile xFile;
    xFile.setFileName("velacctable.txt");
    if(xFile.open(QIODevice::ReadOnly))
    {
        QByteArray ba = xFile.readAll();
        QString strba;
        strba.append(ba);
        QStringList strlinelist =strba.split("\n");// strba.split(QRegExp("[\t ;]+"));
        int nline = strlinelist.size();
        int i;
        for(i=0;i<nline;i++)
        {
            QString str = strlinelist.at(i);
            str = str.trimmed();
            QStringList strvaluelist = str.split(QRegExp("[\t ;]+"));
            if(strvaluelist.size()>=4)
            {
                double vel,acc,torque,brake;
                vel = QString(strvaluelist.at(0)).toDouble();
                acc = QString(strvaluelist.at(1)).toDouble();
                torque = QString(strvaluelist.at(2)).toDouble();
                brake = QString(strvaluelist.at(3)).toDouble();
                xvectortable_torque.push_back(std::make_tuple(vel,acc,torque));
                xvectortable_brake.push_back(std::make_tuple(vel,acc,brake));
            }
        }

    }
    xFile.close();

    if(xvectortable_torque.size()>=4)
    {
        mInterpolation2D_torque.Init(xvectortable_torque);
        mInterpolation2D_brake.Init(xvectortable_brake);
        mbInterpolation2DOK = true;
    }
}

int LookupTable::GetTorqueBrake(double fVeh,double fAcc,double & fTorque, double & fBrake)
{
    if(mbInterpolation2DOK == false)return -1;
    fTorque = mInterpolation2D_torque.Interpolate(std::make_pair(fVeh,fAcc));
    fBrake = mInterpolation2D_brake.Interpolate(std::make_pair(fVeh,fAcc));
    return 0;
}

bool LookupTable::IsINterpolationOK()
{
    return mbInterpolation2DOK;
}