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76 lines
1.5 KiB
Plaintext
76 lines
1.5 KiB
Plaintext
% script for interpolating data of RTS Hannover
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function output = recordingtime_sync(input, ref)
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[input_m, input_n] = size(input);
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[ref_m, ref_n] = size(ref);
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output = zeros(ref_m, input_n);
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for i = 1 : ref_m
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upper_index = find(input(:,1) > ref(i,1));
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upper = input(upper_index(1),:);
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if(upper_index(1) > 1)
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lower = input((upper_index(1)-1),:);
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else
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lower = upper;
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end
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diff = upper - lower;
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% normalise angel sym 0
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if(diff(5) > pi)
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diff(5) = diff(5) - 2*pi;
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end
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if(diff(5) < -pi)
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diff(5) = diff(5) + 2*pi;
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end
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if(diff(6) > pi)
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diff(6) = diff(6) - 2*pi;
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end
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if(diff(6) < -pi)
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diff(6) = diff(6) + 2*pi;
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end
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if(diff(7) > pi)
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diff(7) = diff(7) - 2*pi;
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end
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if(diff(7) < -pi)
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diff(7) = diff(7) + 2*pi;
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end
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if(diff(1) == 0)
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rel_time = 0;
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else
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rel_time = (ref(i,1) - lower(1,1)) / diff(1);
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end
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output(i,:) = lower + rel_time .* diff;
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% normalise angel sym 0
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if(output(i,5) > pi)
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output(i,5) = output(i,5) - 2*pi;
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end
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if(output(i,5) < -pi)
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output(i,5) = output(i,5) + 2*pi;
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end
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if(output(i,6) > pi)
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output(i,6) = output(i,6) - 2*pi;
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end
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if(output(i,6) < -pi)
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output(i,6) = output(i,6) + 2*pi;
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end
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if(output(i,7) > (2*pi))
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output(i,7) = output(i,7) - 2*pi;
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end
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if(output(i,7) < 0.0)
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output(i,7) = output(i,7) + 2*pi;
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end
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end
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