controllib split blocks into separate files

src/lib/controllib/BlockStats.hpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <px4_defines.h>
+#include <assert.h>
+#include <time.h>
+#include <stdlib.h>
+#include <math.h>
+#include <mathlib/math/test/test.hpp>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include "block/Block.hpp"
+#include "block/BlockParam.hpp"
+
+#include "matrix/math.hpp"
+
+namespace control
+{
+template<class Type, size_t M>
+class __EXPORT BlockStats: public Block
+{
+
+public:
+// methods
+	BlockStats(SuperBlock *parent,
+		   const char *name) :
+		Block(parent, name),
+		_sum(),
+		_sumSq(),
+		_count(0)
+	{
+	};
+	virtual ~BlockStats() {};
+	void update(const matrix::Vector<Type, M> &u)
+	{
+		_sum += u;
+		_sumSq += u.emult(u);
+		_count += 1;
+	}
+	void reset()
+	{
+		_sum.setZero();
+		_sumSq.setZero();
+		_count = 0;
+	}
+// accessors
+	size_t getCount() { return _count; }
+	matrix::Vector<Type, M> getMean() { return _sum / _count; }
+	matrix::Vector<Type, M> getVar()
+	{
+		return (_sumSq - _sum.emult(_sum) / _count) / _count;
+	}
+	matrix::Vector<Type, M> getStdDev()
+	{
+		return getVar().pow(0.5);
+	}
+private:
+// attributes
+	matrix::Vector<Type, M> _sum;
+	matrix::Vector<Type, M> _sumSq;
+	size_t _count;
+};
+
+} // namespace control