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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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144 lines
3.5 KiB
C++
144 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015-2016 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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Polygon linear fit
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Author: Siddharth Bharat Purohit
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*/
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#include "polyfit.h"
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#include "matrix_alg.h"
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int polyfitter::init(uint8_t order)
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{
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_forder = order + 1;
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VTV = new double[_forder * _forder];
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if (VTV == NULL) {
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return -1;
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}
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VTY = new double[_forder];
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if (VTY == NULL) {
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return -1;
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}
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memset(VTV, 0, sizeof(double)*_forder * _forder);
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memset(VTY, 0, sizeof(double)*_forder);
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return 0;
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}
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void polyfitter::update(double x, double y)
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{
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update_VTV(x);
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update_VTY(x, y);
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}
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void polyfitter::update_VTY(double x, double y)
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{
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double temp = 1.0f;
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printf("O %.6f\n", (double)x);
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for (int8_t i = _forder - 1; i >= 0; i--) {
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VTY[i] += y * temp;
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temp *= x;
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printf("%.6f ", (double)VTY[i]);
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}
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printf("\n");
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}
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void polyfitter::update_VTV(double x)
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{
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double temp = 1.0f;
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int8_t z;
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for (uint8_t i = 0; i < _forder; i++) {
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for (int j = 0; j < _forder; j++) {
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printf("%.10f ", (double)VTV[i * _forder + j]);
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}
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printf("\n");
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}
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for (int8_t i = 2 * _forder - 2; i >= 0; i--) {
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if (i < _forder) {
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z = 0.0f;
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} else {
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z = i - _forder + 1;
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}
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for (int8_t j = i - z; j >= z; j--) {
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uint8_t row = j;
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uint8_t col = i - j;
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VTV[row * _forder + col] += (double)temp;
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}
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temp *= x;
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}
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}
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bool polyfitter::fit(double res[])
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{
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//Do inverse of VTV
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double *IVTV = new double[_forder * _forder];
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if (VTV == NULL) {
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return false;
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}
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if (inverse4x4(VTV, IVTV)) {
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for (uint8_t i = 0; i < _forder; i++) {
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for (int j = 0; j < _forder; j++) {
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printf("%.10f ", (double)IVTV[i * _forder + j]);
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}
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printf("\n");
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}
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for (uint8_t i = 0; i < _forder; i++) {
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res[i] = 0.0f;
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for (int j = 0; j < _forder; j++) {
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res[i] += IVTV[i * _forder + j] * (double)VTY[j];
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}
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printf("%.10f ", res[i]);
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}
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return true;
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}
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return false;
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} |