Sample Application for the Contractor for Time-Delayed Signals

1. Prerequisites

1.1 Linux and C++11 (or newer)

1.2. Codac and Ibex

Follow the installation instructions for Ibex and Codac.

1.3 Vibes

To visualize the application, Vibes is required. You can also install the latest version from the sources available on the GitHub development repository. For instance, on Linux systems, a fast installation can be made using the following command lines:

    sudo apt-get install qt5-default libqt5svg5-dev cmake git
    git clone https://github.com/ENSTABretagneRobotics/VIBES
    cd VIBES/viewer ; mkdir build ; cd build ; cmake .. ; sudo make install

You can click on the icon to launch it, or use a terminal. For instance, on Linux systems:

    VIBes-viewer

2. Build the code in this repository

Clone the repository and use cmake to build the application:

    git clone https://github.com/Rapha811/ctc_delay_demonstration
    cd ctc_delay_demonstration
    mkdir build -p
    cd build
    cmake ..
    make

Afterwards you can launch the application, for example, directly from the terminal:

    ./ctc_delay_demonstration

3. Modify the application

You can modify several properties of the application in the first few lines of the main.cpp file. For example, you can modify the following things:

• double dt = 0.2 Sampling time of the signal (width of the tube slices).
• Interval tdomain(-10,10) Time domain over which the signal is simulated. Outside this domain the signal is assumed to be zero.
• TFunction signal ("(2/(sqrt(3*1.5)*3.14)^(1/4))*(1-(t^2)/(1.5^2))*exp(-(t^2)/(2*(1.5^2)))") Simulated signal (Ricker wavelet in this case, but you can use any signal).
• IntervalVector sea({{-7.,7.},{-14.,-1.}}) Dimensions of the environment (x: -7 to 7,y: -14 to -1).
• Vector pa{6.5,-6.}, pb{-6,-4.} Position of the receiver (pa) and the sound source/emitter (pb).
• double velocity = 0.4 Speed of signal.
• double attenuation_coefficient = 0.1 Attenuation of the signal.

Afterwards, you have to re-compile and launch the application as described before.