www.pudn.com > Kalman--C++.rar > Kalman2View.cpp

// Kalman2View.cpp : implementation of the CKalman2View class 
// 
 
#include "stdafx.h" 
#include "Kalman2.h" 
 
#include "Kalman2Doc.h" 
#include "Kalman2View.h" 
#include "SetDlg.h" 
 
 
 
 
#ifdef _DEBUG 
#define new DEBUG_NEW 
#undef THIS_FILE 
static char THIS_FILE[] = __FILE__; 
#endif 
 
///////////////////////////////////////////////////////////////////////////// 
// CKalman2View 
 
IMPLEMENT_DYNCREATE(CKalman2View, CView) 
 
BEGIN_MESSAGE_MAP(CKalman2View, CView) 
	//{{AFX_MSG_MAP(CKalman2View) 
	ON_COMMAND(ID_DISPLAY, OnDisplay) 
	ON_COMMAND(ID_DIS_ERROR, OnDisError) 
	ON_COMMAND(ID_FILTER_LMS, OnFilterLms) 
	ON_COMMAND(ID_LMS_ERROR, OnLmsError) 
	ON_COMMAND(ID_PARA_SET, OnParaSet) 
	//}}AFX_MSG_MAP 
END_MESSAGE_MAP() 
 
///////////////////////////////////////////////////////////////////////////// 
// CKalman2View construction/destruction 
 
CKalman2View::CKalman2View() 
{ 
	// TODO: add construction code here 
	alfa=1.0/60; 
	M=12; 
	m_Model=0; 
	A=0.03; 
 
} 
 
CKalman2View::~CKalman2View() 
{ 
} 
 
BOOL CKalman2View::PreCreateWindow(CREATESTRUCT& cs) 
{ 
	// TODO: Modify the Window class or styles here by modifying 
	//  the CREATESTRUCT cs 
 
	return CView::PreCreateWindow(cs); 
} 
 
///////////////////////////////////////////////////////////////////////////// 
// CKalman2View drawing 
 
void CKalman2View::OnDraw(CDC* pDC) 
{ 
	CKalman2Doc* pDoc = GetDocument(); 
	ASSERT_VALID(pDoc); 
	// TODO: add draw code for native data here 
} 
 
///////////////////////////////////////////////////////////////////////////// 
// CKalman2View diagnostics 
 
#ifdef _DEBUG 
void CKalman2View::AssertValid() const 
{ 
	CView::AssertValid(); 
} 
 
void CKalman2View::Dump(CDumpContext& dc) const 
{ 
	CView::Dump(dc); 
} 
 
CKalman2Doc* CKalman2View::GetDocument() // non-debug version is inline 
{ 
	ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CKalman2Doc))); 
	return (CKalman2Doc*)m_pDocument; 
} 
#endif //_DEBUG 
 
///////////////////////////////////////////////////////////////////////////// 
// CKalman2View message handlers 
 
 
 
void CKalman2View::OnDisplay()  
{ 
	// TODO: Add your command handler code here 
 
	int i; 
	singer.alfa=alfa; 
	if(m_Model==false) 
		singer.Filter(); 
	else 
		singer.Filter_2(); 
	RedrawWindow(); 
 
	CDC *pDC; 
	pDC=GetDC(); 
 
	int x0,y0; 
	double xscale,yscale; 
	xscale=0.1; 
	yscale=0.05; 
	x0=200; 
	y0=550; 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0-1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+1000); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-1000); 
 
//	pDC->TextOut(x0+5,y0+5,"(0,0)"); 
	CString str1; 
 
	for(i=-10;i<=10;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*1000*xscale),y0-2); 
		pDC->LineTo(int(x0+i*1000*xscale),y0+2); 
		 
 
	 
		 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*1000*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*1000*yscale)); 
		str1.Format("%d",(int)(i*1000)); 
    	str1=str1+"m"; 
		pDC->TextOut((int)(x0+i*1000*xscale)+10,y0+10,str1); 
		pDC->TextOut(x0+10,(int)(y0-i*1000*yscale)+10,str1); 
 
 
	} 
		//i*1000*xscale 
	 
	 
	pDC->TextOut(0,50,"黑色线__真实值"); 
	pDC->TextOut(0,100,"绿色线__观测值"); 
	pDC->TextOut(0,150,"红色线__滤波值"); 
 
 
 
 
 
 
 
	CPen pen1(PS_SOLID,1,RGB(255,0,0)),pen2(PS_SOLID,1,RGB(0,255,0)),pen3(PS_SOLID,1,RGB(0,0,255)); 
 
	pDC->MoveTo((int)(x0+singer.XY_Real[0][0]*xscale),(int)(y0-singer.XY_Real[0][1]*yscale)); 
	 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Real[i][0]*xscale),(int)(y0-singer.XY_Real[i][1]*yscale)); 
	} 
 
	pDC->SelectObject(pen2); 
	pDC->MoveTo((int)(x0+singer.XY_Obsv[0][0]*xscale),(int)(y0-singer.XY_Obsv[0][1]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Obsv[i][0]*xscale),(int)(y0-singer.XY_Obsv[i][1]*yscale)); 
	} 
 
	pDC->SelectObject(pen1); 
	pDC->MoveTo((int)(x0+singer.XY_Filt[0][0]*xscale),(int)(y0-singer.XY_Filt[0][1]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Filt[i][0]*xscale),(int)(y0-singer.XY_Filt[i][1]*yscale)); 
	} 
 
} 
 
void CKalman2View::OnDisError()  
{ 
	// TODO: Add your command handler code here 
	 
	singer.CalError(M,m_Model); 
	RedrawWindow(); 
	int i; 
	CDC *pDC; 
	pDC=GetDC(); 
 
	int x0,y0; 
	double xscale=2,yscale=1; 
	x0=100; 
	y0=200; 
 
	CString str1;	 
	str1.Format("%s%d","滤波次数",M); 
	pDC->TextOut(30,30,str1); 
	 
	//画坐标轴 
 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+120); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-120); 
 
 
 
//画坐标点 
	for(i=0;i<=12;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*30*xscale),y0-2); 
    	pDC->LineTo(int(x0+i*30*xscale),y0+2); 
		 
 
	 
		 
		str1.Format("%d",(int)(i*30)); 
    	//str1=str1+""; 
		pDC->TextOut((int)(x0+i*30*xscale)+10,y0+10,str1); 
		//pDC->TextOut(x0+10,(int)(y0-i*30*yscale)+10,str1); 
 
 
	} 
	for(i=-6;i<7;i++) 
	{ 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*20*yscale)); 
		pDC->MoveTo((int)(x0-2),(int)(y0-i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0-i*20*yscale)); 
 
		str1.Format("%d",(int)(-i*20)); 
		pDC->TextOut(x0-30 ,(int)(y0+i*20*yscale),str1); 
 
	} 
	 
 
	pDC->TextOut(x0+300,y0+100,"X、Y滤波误差均值"); 
	CPen pen1(PS_SOLID,1,RGB(255,0,0)),pen2(PS_SOLID,1,RGB(0,255,0)),pen3(PS_SOLID,1,RGB(0,0,0)); 
	pDC->SelectObject(pen1); 
//	pDC->MoveTo((int)(x0),(int)(y0)); 
//	pDC->LineTo((int)(x0+1000),(int)(y0)); 
	 
	pDC->MoveTo((int)(x0),(int)(y0-singer.ex[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.ex[i]*yscale)); 
	} 
 
	pDC->SelectObject(pen2); 
	pDC->MoveTo((int)(x0),(int)(y0-singer.ey[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.ey[i]*yscale)); 
	} 
	y0=y0+300; 
	 
	pDC->SelectObject(pen3); 
		//画坐标轴 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+120); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-120); 
 
 //画坐标点 
	for(i=0;i<=12;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*30*xscale),y0-2); 
    	pDC->LineTo(int(x0+i*30*xscale),y0+2); 
		 
 
	 
		 
		str1.Format("%d",(int)(i*30)); 
    	//str1=str1+""; 
		pDC->TextOut((int)(x0+i*30*xscale)+10,y0+10,str1); 
		//pDC->TextOut(x0+10,(int)(y0-i*30*yscale)+10,str1); 
 
 
	} 
	for(i=-6;i<7;i++) 
	{ 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*20*yscale)); 
		pDC->MoveTo((int)(x0-2),(int)(y0-i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0-i*20*yscale)); 
 
		str1.Format("%d",(int)(-i*20)); 
		pDC->TextOut(x0-30 ,(int)(y0+i*20*yscale),str1); 
 
	} 
 
	pDC->TextOut(x0+300,y0+100,"X、Y滤波误差标准差"); 
	pDC->SelectObject(pen1); 
//	pDC->MoveTo((int)(x0),(int)(y0)); 
//	pDC->LineTo((int)(x0+1000),(int)(y0)); 
	 
	pDC->MoveTo((int)(x0),(int)(y0-singer.dx[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.dx[i]*yscale)); 
 
	} 
	pDC->SelectObject(pen2); 
		pDC->MoveTo((int)(x0),(int)(y0-singer.dy[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.dy[i]*yscale)); 
 
	} 
 
} 
 
void CKalman2View::OnFilterLms()  
{ 
	// TODO: Add your command handler code here 
	 
	int i; 
	singer.alfa=alfa; 
 
	singer.Filter_LMS(); 
	RedrawWindow(); 
 
	CDC *pDC; 
	pDC=GetDC(); 
 
	int x0,y0; 
	double xscale,yscale; 
	xscale=0.1; 
	yscale=0.05; 
	x0=200; 
	y0=550; 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0-1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+1000); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-1000); 
 
//	pDC->TextOut(x0+5,y0+5,"(0,0)"); 
	CString str1; 
 
	for(i=-10;i<=10;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*1000*xscale),y0-2); 
		pDC->LineTo(int(x0+i*1000*xscale),y0+2); 
		 
 
	 
		 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*1000*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*1000*yscale)); 
		str1.Format("%d",(int)(i*1000)); 
    	str1=str1+"m"; 
		pDC->TextOut((int)(x0+i*1000*xscale)+10,y0+10,str1); 
		pDC->TextOut(x0+10,(int)(y0-i*1000*yscale)+10,str1); 
 
 
	} 
		//i*1000*xscale 
	 
	 
	pDC->TextOut(0,50,"黑色线__真实值"); 
	pDC->TextOut(0,100,"绿色线__观测值"); 
	pDC->TextOut(0,150,"红色线__滤波值"); 
 
 
 
 
 
 
 
	CPen pen1(PS_SOLID,1,RGB(255,0,0)),pen2(PS_SOLID,1,RGB(0,255,0)),pen3(PS_SOLID,1,RGB(0,0,255)); 
 
	pDC->MoveTo((int)(x0+singer.XY_Real[0][0]*xscale),(int)(y0-singer.XY_Real[0][1]*yscale)); 
	 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Real[i][0]*xscale),(int)(y0-singer.XY_Real[i][1]*yscale)); 
	} 
 
	pDC->SelectObject(pen2); 
	pDC->MoveTo((int)(x0+singer.XY_Obsv[0][0]*xscale),(int)(y0-singer.XY_Obsv[0][1]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Obsv[i][0]*xscale),(int)(y0-singer.XY_Obsv[i][1]*yscale)); 
	} 
 
	pDC->SelectObject(pen1); 
	pDC->MoveTo((int)(x0+singer.XY_Filt[0][0]*xscale),(int)(y0-singer.XY_Filt[0][1]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+singer.XY_Filt[i][0]*xscale),(int)(y0-singer.XY_Filt[i][1]*yscale)); 
	} 
 
 
	 
} 
 
void CKalman2View::OnLmsError()  
{ 
	// TODO: Add your command handler code here 
	singer.CalErrorLms(M); 
	RedrawWindow(); 
	int i; 
	CDC *pDC; 
	pDC=GetDC(); 
 
	int x0,y0; 
	double xscale=2,yscale=1; 
	x0=100; 
	y0=200; 
 
	CString str1;	 
	str1.Format("%s%d","滤波次数",M); 
	pDC->TextOut(30,30,str1); 
	 
	//画坐标轴 
 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+120); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-120); 
 
 
 
//画坐标点 
	for(i=0;i<=12;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*30*xscale),y0-2); 
    	pDC->LineTo(int(x0+i*30*xscale),y0+2); 
		 
 
	 
		 
		str1.Format("%d",(int)(i*30)); 
    	//str1=str1+""; 
		pDC->TextOut((int)(x0+i*30*xscale)+10,y0+10,str1); 
		//pDC->TextOut(x0+10,(int)(y0-i*30*yscale)+10,str1); 
 
 
	} 
	for(i=-6;i<7;i++) 
	{ 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*20*yscale)); 
		pDC->MoveTo((int)(x0-2),(int)(y0-i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0-i*20*yscale)); 
 
		str1.Format("%d",(int)(-i*20)); 
		pDC->TextOut(x0-30 ,(int)(y0+i*20*yscale),str1); 
 
	} 
	 
 
	pDC->TextOut(x0+300,y0+100,"X、Y滤波误差均值"); 
	CPen pen1(PS_SOLID,1,RGB(255,0,0)),pen2(PS_SOLID,1,RGB(0,255,0)),pen3(PS_SOLID,1,RGB(0,0,0)); 
	pDC->SelectObject(pen1); 
//	pDC->MoveTo((int)(x0),(int)(y0)); 
//	pDC->LineTo((int)(x0+1000),(int)(y0)); 
	 
	pDC->MoveTo((int)(x0),(int)(y0-singer.ex[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.ex[i]*yscale)); 
	} 
 
	pDC->SelectObject(pen2); 
	pDC->MoveTo((int)(x0),(int)(y0-singer.ey[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.ey[i]*yscale)); 
	} 
	y0=y0+300; 
	 
	pDC->SelectObject(pen3); 
		//画坐标轴 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0+1000,y0); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0+120); 
	pDC->MoveTo(x0,y0); 
	pDC->LineTo(x0,y0-120); 
 
 //画坐标点 
	for(i=0;i<=12;i++) 
	{ 
		pDC->MoveTo((int)(x0+i*30*xscale),y0-2); 
    	pDC->LineTo(int(x0+i*30*xscale),y0+2); 
		 
 
	 
		 
		str1.Format("%d",(int)(i*30)); 
    	//str1=str1+""; 
		pDC->TextOut((int)(x0+i*30*xscale)+10,y0+10,str1); 
		//pDC->TextOut(x0+10,(int)(y0-i*30*yscale)+10,str1); 
 
 
	} 
	for(i=-6;i<7;i++) 
	{ 
		pDC->MoveTo((int)(x0-2),(int)(y0+i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0+i*20*yscale)); 
		pDC->MoveTo((int)(x0-2),(int)(y0-i*20*yscale)); 
		pDC->LineTo(int(x0+2),(int)(y0-i*20*yscale)); 
 
		str1.Format("%d",(int)(-i*20)); 
		pDC->TextOut(x0-30 ,(int)(y0+i*20*yscale),str1); 
 
	} 
 
	pDC->TextOut(x0+300,y0+100,"X、Y滤波误差标准差"); 
	pDC->SelectObject(pen1); 
//	pDC->MoveTo((int)(x0),(int)(y0)); 
//	pDC->LineTo((int)(x0+1000),(int)(y0)); 
	 
	pDC->MoveTo((int)(x0),(int)(y0-singer.dx[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.dx[i]*yscale)); 
 
	} 
	pDC->SelectObject(pen2); 
		pDC->MoveTo((int)(x0),(int)(y0-singer.dy[0]*yscale)); 
 
	for(i=1;i<350;i++) 
	{ 
		pDC->LineTo((int)(x0+i*xscale),(int)(y0-singer.dy[i]*yscale)); 
 
	} 
 
	 
} 
 
void CKalman2View::OnParaSet()  
{ 
	// TODO: Add your command handler code here 
		CSetDlg dlg; 
	dlg.m_alfa=alfa; 
	dlg.m_times=M; 
	dlg.m_Model=m_Model; 
	dlg.m_A=A; 
 
 
	if(dlg.DoModal()==IDOK) 
		 
	{ 
		alfa=dlg.m_alfa; 
		M=dlg.m_times; 
		m_Model=dlg.m_Model; 
		A=dlg.m_A; 
	} 
		 
	 
}