signals.py 文件源码

def compute_fai(self):

        filtered_values = signal.lfilter(self.b, self.a,
                                         self.sensor_values, axis=0)
        # print shape()
        finger1 = filtered_values[-1][0:1].sum()
        finger2 = filtered_values[-1][1:2].sum()
        finger3 = filtered_values[-1][2:3].sum()
        msg = FingerSAI()
        msg.finger1 = float(finger1)
        msg.finger2 = float(finger2)
        msg.finger3 = float(finger3)
        self.fai_pub.publish(msg)
        if self.recording:
            t = time()
            self.data['fair'].append((t, right))
            self.data['fail'].append((t, left))
            self.data['faim'].append((t, middle))