mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-13 01:30:34 +08:00
Julian Kent
64 lines
2.7 KiB
C++
64 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <matrix/matrix/math.hpp>
|
|
#include <px4_platform_common/defines.h>
|
|
|
|
struct sphere_params {
|
|
matrix::Vector3f offset, diag{1.f, 1.f, 1.f}, offdiag;
|
|
float radius{0.2f};
|
|
};
|
|
|
|
|
|
/**
|
|
* Least-squares fit of a sphere to a set of points.
|
|
*
|
|
* Fits a sphere to a set of points on the sphere surface.
|
|
*
|
|
* @param x point coordinates on the X axis
|
|
* @param y point coordinates on the Y axis
|
|
* @param z point coordinates on the Z axis
|
|
* @param samples_collected number of points
|
|
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
|
|
* @param params the values to be optimized
|
|
* @param full_ellipsoid whether to just optimize a sphere, or do an ellipsoid optimization
|
|
*
|
|
* NB!! If you optimize the full ellipsoid, you must have already optimized without the full ellipsoid
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int lm_mag_fit(const float x[], const float y[], const float z[], unsigned int samples_collected, sphere_params ¶ms,
|
|
bool full_ellipsoid);
|