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c659d2bcc2
- avoid including <px4_defines.h> from the math headers - avoid driver include <drivers/drv_mixer.h> from the mixer
80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Seach.hpp
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*
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* - Binary Search (ToDo)
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* - Golden Section Search
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*/
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#pragma once
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namespace math
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{
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static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
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// Type-safe abs
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template<typename _Tp>
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_Tp abs_t(_Tp val)
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{
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return ((val > (_Tp)0) ? val : -val);
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}
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// golden section search to find extremeum for function with minimum
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template<typename _Tp>
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inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp), const _Tp &tol)
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{
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_Tp a = arg1;
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_Tp b = arg2;
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_Tp c = b - (b - a) / GOLDEN_RATIO;
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_Tp d = a + (b - a) / GOLDEN_RATIO;
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while (abs_t(c - d) > tol) {
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if (fun(c) < fun(d)) {
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b = d;
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} else {
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a = c;
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}
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c = b - (b - a) / GOLDEN_RATIO;
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d = a + (b - a) / GOLDEN_RATIO;
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}
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return ((b + a) / (_Tp)2);
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}
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}
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