2f46dec949
This avoids a namespace clash with the RPi namespace used by the ipa and pipeline handlers, and cleans up the syntax slightly. There are no functional changes in this commit. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> Reviewed-by: Jacopo Mondi <jacopo@jmondi.org> Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com> Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> Signed-off-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
109 lines
3.4 KiB
C++
109 lines
3.4 KiB
C++
/* SPDX-License-Identifier: BSD-2-Clause */
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/*
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* Copyright (C) 2019, Raspberry Pi (Trading) Limited
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*
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* pwl.hpp - piecewise linear functions interface
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*/
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#pragma once
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#include <math.h>
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#include <vector>
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#include <boost/property_tree/ptree.hpp>
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namespace RPiController {
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class Pwl
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{
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public:
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struct Interval {
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Interval(double _start, double _end) : start(_start), end(_end)
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{
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}
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double start, end;
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bool Contains(double value)
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{
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return value >= start && value <= end;
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}
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double Clip(double value)
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{
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return value < start ? start
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: (value > end ? end : value);
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}
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double Len() const { return end - start; }
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};
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struct Point {
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Point() : x(0), y(0) {}
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Point(double _x, double _y) : x(_x), y(_y) {}
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double x, y;
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Point operator-(Point const &p) const
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{
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return Point(x - p.x, y - p.y);
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}
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Point operator+(Point const &p) const
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{
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return Point(x + p.x, y + p.y);
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}
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double operator%(Point const &p) const
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{
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return x * p.x + y * p.y;
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}
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Point operator*(double f) const { return Point(x * f, y * f); }
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Point operator/(double f) const { return Point(x / f, y / f); }
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double Len2() const { return x * x + y * y; }
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double Len() const { return sqrt(Len2()); }
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};
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Pwl() {}
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Pwl(std::vector<Point> const &points) : points_(points) {}
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void Read(boost::property_tree::ptree const ¶ms);
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void Append(double x, double y, const double eps = 1e-6);
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void Prepend(double x, double y, const double eps = 1e-6);
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Interval Domain() const;
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Interval Range() const;
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bool Empty() const;
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// Evaluate Pwl, optionally supplying an initial guess for the
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// "span". The "span" may be optionally be updated. If you want to know
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// the "span" value but don't have an initial guess you can set it to
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// -1.
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double Eval(double x, int *span_ptr = nullptr,
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bool update_span = true) const;
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// Find perpendicular closest to xy, starting from span+1 so you can
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// call it repeatedly to check for multiple closest points (set span to
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// -1 on the first call). Also returns "pseudo" perpendiculars; see
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// PerpType enum.
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enum class PerpType {
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None, // no perpendicular found
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Start, // start of Pwl is closest point
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End, // end of Pwl is closest point
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Vertex, // vertex of Pwl is closest point
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Perpendicular // true perpendicular found
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};
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PerpType Invert(Point const &xy, Point &perp, int &span,
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const double eps = 1e-6) const;
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// Compose two Pwls together, doing "this" first and "other" after.
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Pwl Compose(Pwl const &other, const double eps = 1e-6) const;
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// Apply function to (x,y) values at every control point.
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void Map(std::function<void(double x, double y)> f) const;
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// Apply function to (x, y0, y1) values wherever either Pwl has a
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// control point.
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static void Map2(Pwl const &pwl0, Pwl const &pwl1,
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std::function<void(double x, double y0, double y1)> f);
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// Combine two Pwls, meaning we create a new Pwl where the y values are
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// given by running f wherever either has a knot.
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static Pwl
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Combine(Pwl const &pwl0, Pwl const &pwl1,
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std::function<double(double x, double y0, double y1)> f,
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const double eps = 1e-6);
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// Make "this" match (at least) the given domain. Any extension my be
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// clipped or linear.
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void MatchDomain(Interval const &domain, bool clip = true,
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const double eps = 1e-6);
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Pwl &operator*=(double d);
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void Debug(FILE *fp = stdout) const;
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private:
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int findSpan(double x, int span) const;
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std::vector<Point> points_;
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};
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} // namespace RPiController
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