Differential D19745 Diff 47172 src/applications/caspian/CaspianLIDARAnalyzer.php

Changeset View

Standalone View

				<?php

				final class CaspianLIDARAnalyzer
				extends CaspianAnalyzer {

				public function analyzeSensors(CaspianState $state) {
				$lidars = array();

				foreach ($state->getSensorState() as $sensor_state) {
				if ($sensor_state['sensor'] instanceof CaspianLIDARSensor) {
				$lidars[] = $sensor_state;
				}
				}

				$lidar_result = array();
				for ($ii = 0; $ii < 12; $ii++) {
				$readings = array();
				foreach ($lidars as $lidar_reading) {
				$state = $lidar_reading['state'];
				if ($state[$ii] !== null) {
				$readings[] = $state[$ii];
				}
				}

				// Combine the values and certainties. This is just a rough approximation
				// that produces output in vaguely the right shape.

				$values = array();
				$certainties = array();
				foreach ($readings as $reading) {
				$values[] = $reading['reading'];
				$certainties[] = $reading['certainty'];
				}

				$value = array_sum($values) / count($values);
				$certainty = array_sum($certainties) / (count($certainties) + 1);

				$lidar_result[] = array(
				'reading' => $value,
				'certainty' => $certainty,
				);
				}

				return $lidar_result;
				}

				public function newView(array $state) {
				return id(new CaspianLIDARView())->newView(
				$this->getName(),
				$state);
				}


				}