AP_Curve: remove unused library
This commit is contained in:
Lucas De Marchi
parent
e5e8bf3203
commit
1a0f613a0f
@ -1,104 +0,0 @@
|
||||
|
||||
#include "AP_Curve.h"
|
||||
|
||||
|
||||
// Constructor
|
||||
template <class T, uint8_t SIZE>
|
||||
AP_Curve<T,SIZE>::AP_Curve() :
|
||||
_num_points(0)
|
||||
{
|
||||
// clear the curve
|
||||
clear();
|
||||
};
|
||||
|
||||
// clear the curve
|
||||
template <class T, uint8_t SIZE>
|
||||
void AP_Curve<T,SIZE>::clear() {
|
||||
// clear the curve
|
||||
for( uint8_t i=0; i<SIZE; i++ ) {
|
||||
_x[i] = 0;
|
||||
_y[i] = 0;
|
||||
_slope[i] = 0.0f;
|
||||
}
|
||||
_num_points = 0;
|
||||
}
|
||||
|
||||
// add_point - adds a point to the curve
|
||||
template <class T, uint8_t SIZE>
|
||||
bool AP_Curve<T,SIZE>::add_point( T x, T y )
|
||||
{
|
||||
if( _num_points < SIZE ) {
|
||||
_x[_num_points] = x;
|
||||
_y[_num_points] = y;
|
||||
|
||||
// increment the number of points
|
||||
_num_points++;
|
||||
|
||||
// if we have at least two points calculate the slope
|
||||
if( _num_points > 1 ) {
|
||||
_slope[_num_points-2] = (float)(_y[_num_points-1] - _y[_num_points-2]) / (float)(_x[_num_points-1] - _x[_num_points-2]);
|
||||
_slope[_num_points-1] = _slope[_num_points-2]; // the final slope is for interpolation beyond the end of the curve
|
||||
}
|
||||
return true;
|
||||
}else{
|
||||
// we do not have room for the new point
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// get_y - returns the y value on the curve for a given x value
|
||||
template <class T, uint8_t SIZE>
|
||||
T AP_Curve<T,SIZE>::get_y( T x )
|
||||
{
|
||||
uint8_t i;
|
||||
T result;
|
||||
|
||||
// deal with case where ther is no curve
|
||||
if( _num_points == 0 ) {
|
||||
return x;
|
||||
}
|
||||
|
||||
// when x value is lower than the first point's x value, return minimum y value
|
||||
if( x <= _x[0] ) {
|
||||
return _y[0];
|
||||
}
|
||||
|
||||
// when x value is higher than the last point's x value, return maximum y value
|
||||
if( x >= _x[_num_points-1] ) {
|
||||
return _y[_num_points-1];
|
||||
}
|
||||
|
||||
// deal with the normal case
|
||||
for( i=0; i<_num_points-1; i++ ) {
|
||||
if( x >= _x[i] && x <= _x[i+1] ) {
|
||||
result = _y[i] + (x - _x[i]) * _slope[i];
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
// we should never get here
|
||||
return x;
|
||||
}
|
||||
// displays the contents of the curve (for debugging)
|
||||
template <class T, uint8_t SIZE>
|
||||
void AP_Curve<T,SIZE>::dump_curve(AP_HAL::BetterStream* s)
|
||||
{
|
||||
s->println("Curve:");
|
||||
for( uint8_t i = 0; i<_num_points; i++ ){
|
||||
s->print("x:");
|
||||
s->print(_x[i]);
|
||||
s->print("\ty:");
|
||||
s->print(_y[i]);
|
||||
s->print("\tslope:");
|
||||
s->print(_slope[i],4);
|
||||
s->println();
|
||||
}
|
||||
}
|
||||
|
||||
template class AP_Curve<int16_t,3>;
|
||||
template class AP_Curve<int16_t,4>;
|
||||
template class AP_Curve<int16_t,5>;
|
||||
template class AP_Curve<uint16_t,3>;
|
||||
template class AP_Curve<uint16_t,4>;
|
||||
template class AP_Curve<uint16_t,5>;
|
||||
|
||||
@ -1,55 +0,0 @@
|
||||
// -*- 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
|
||||
|
||||
#ifndef __AP_CURVE_H__
|
||||
#define __AP_CURVE_H__
|
||||
|
||||
#include <AP_Common/AP_Common.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.
|
||||
*/
|
||||
|
||||
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;
|
||||
|
||||
#endif // __AP_CURVE_H__
|
||||
Loading…
Reference in New Issue
Block a user