/* polynomial fitting class, originally written by Siddharth Bharat Purohit re-written for ArduPilot by Andrew Tridgell This fits a polynomial of a given order to a set of data, running as an online algorithm with minimal storage */ #pragma once #include <stdint.h> /* polynomial fit with X axis type xtype and yaxis type vtype (must be a vector) */ template <uint8_t order, typename xtype, typename vtype> class PolyFit { public: void update(xtype x, vtype y); bool get_polynomial(vtype res[order]) const; private: xtype mat[order][order]; vtype vec[order]; };