ardupilot/libraries/AP_Curve/AP_Curve.h

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2013-05-29 20:54:53 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_Curve.h
/// @brief used to transforms a pwm value to account for the non-linear pwm->thrust values of normal ESC+motors
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#ifndef __AP_CURVE_H__
#define __AP_CURVE_H__
#include <AP_Common/AP_Common.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_HAL/AP_HAL.h>
/// @class AP_Curve
template <class T, uint8_t SIZE>
class AP_Curve {
public:
// Constructor
AP_Curve();
// clear - removes all points from the curve
void clear();
// add_point - adds a point to the curve. returns TRUE if successfully added
bool add_point( T x, T y );
// get_y - returns the point on the curve at the given pwm_value (i.e. the new modified pwm_value)
T get_y( T x );
// displays the contents of the curve (for debugging)
void dump_curve(AP_HAL::BetterStream*);
protected:
uint8_t _num_points; // number of points in the cruve
T _x[SIZE]; // x values of each point on the curve
T _y[SIZE]; // y values of each point on the curve
float _slope[SIZE]; // slope between any two points. i.e. slope[0] is the slope between points 0 and 1
bool _constrained; // if true, first and last points added will constrain the y values returned by get_y function
};
/* Typedefs for template instansations of AP_Curve.
* Only use the AP_Curve instances listed here!
* If you need a different one, you must first instantiate the template at the
* end of AP_Curve.cpp, then add a typedef here. We can't leave the whole
* template implementation in the header due to PSTR related issues.
*/
typedef AP_Curve<int16_t,3> AP_CurveInt16_Size3;
typedef AP_Curve<int16_t,4> AP_CurveInt16_Size4;
typedef AP_Curve<int16_t,5> AP_CurveInt16_Size5;
typedef AP_Curve<uint16_t,3> AP_CurveUInt16_Size3;
typedef AP_Curve<uint16_t,4> AP_CurveUInt16_Size4;
typedef AP_Curve<uint16_t,5> AP_CurveUInt16_Size5;
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#endif // __AP_CURVE_H__