/**************************************************************************** * * Copyright (c) 2018 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 Seach.hpp * * - Binary Search (ToDo) * - Golden Section Search */ #pragma once namespace math { static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2 // Type-safe abs template _Tp abs_t(_Tp val) { return ((val > (_Tp)0) ? val : -val); } // golden section search to find extremeum for function with minimum template inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp), const _Tp &tol) { _Tp a = arg1; _Tp b = arg2; _Tp c = b - (b - a) / GOLDEN_RATIO; _Tp d = a + (b - a) / GOLDEN_RATIO; while (abs_t(c - d) > tol) { if (fun(c) < fun(d)) { b = d; } else { a = c; } c = b - (b - a) / GOLDEN_RATIO; d = a + (b - a) / GOLDEN_RATIO; } return ((b + a) / (_Tp)2); } }