modularization/src/test/testinperplation2d/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QFile>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    ui->horizontalSlider_vel->setRange(0,1000);
    ui->horizontalSlider_acc->setRange(0,1000);
    ui->horizontalSlider_acc->setValue(500);
    ui->horizontalSlider_vel->setValue(0);

    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);
            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()>0)
    {
        mInterpolation2D_torque.Init(xvectortable_torque);
        mInterpolation2D_brake.Init(xvectortable_brake);
        mbInterpolation2DOK = true;
    }
}

MainWindow::~MainWindow()
{
    delete ui;
}


void MainWindow::on_horizontalSlider_vel_valueChanged(int value)
{
    double fvalue = value;
    fvalue = fvalue * 0.1;
    ui->lineEdit_vel->setText(QString::number(fvalue));
    updateinterp();
}

void MainWindow::on_horizontalSlider_acc_valueChanged(int value)
{
    double fvalue = value;
    fvalue = (fvalue - 500)/50.0;
    ui->lineEdit_acc->setText(QString::number(fvalue));
    updateinterp();
}

void MainWindow::updateinterp()
{
    double fvel = ui->horizontalSlider_vel->value();
    fvel = fvel*0.1;
    double facc = ui->horizontalSlider_acc->value();
    facc = (facc -500)/50.0;
    double ftorque,fbrake;
    if(mbInterpolation2DOK)
    {
        ftorque = mInterpolation2D_torque.Interpolate(std::make_pair(fvel,facc));
        fbrake = mInterpolation2D_brake.Interpolate(std::make_pair(fvel,facc));
        ui->lineEdit_torque->setText(QString::number(ftorque,'f',3));
        ui->lineEdit_brake->setText(QString::number(fbrake,'f',3));
    }
}