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Diffstat (limited to 'include/newton_fit.h')
| -rw-r--r-- | include/newton_fit.h | 117 |
1 files changed, 0 insertions, 117 deletions
diff --git a/include/newton_fit.h b/include/newton_fit.h deleted file mode 100644 index b4db64c814..0000000000 --- a/include/newton_fit.h +++ /dev/null @@ -1,117 +0,0 @@ -/* Copyright 2020 The Chromium OS Authors. All rights reserved. - * Use of this source code is governed by a BSD-style license that can be - * found in the LICENSE file. - */ - -/* Newton's method for sphere fit algorithm */ - -#ifndef __CROS_EC_NEWTON_FIT_H -#define __CROS_EC_NEWTON_FIT_H - -#include "queue.h" -#include "vec3.h" -#include "stdbool.h" - -struct newton_fit_orientation { - /** An orientations. */ - fpv3_t orientation; - - /** The number of samples of this orientation. */ - uint8_t nsamples; -}; - -struct newton_fit { - /** - * Threshold used to detect when two vectors are identical. Measured in - * units^2. - */ - fp_t nearness_threshold; - - /** - * The weight to use for a new data point when computing the mean. When - * a new point is considered the same as an existing orientation (via - * the nearness_threshold) it will be averaged with the existing - * orientation using this weight. Valid range is (0,1). - */ - fp_t new_pt_weight; - - /** - * The threshold used to determine whether or not to continue iterating - * when performing the bias computation. - */ - fp_t error_threshold; - - /** - * The maximum number of orientations to use, changing this affects the - * memory footprint of the algorithm as 3 floats are needed per - * orientation. - */ - uint32_t max_orientations; - - /** - * The maximum number of iterations the algorithm is allowed to run. - */ - uint32_t max_iterations; - - /** - * The minimum number of samples per orientation to consider the - * orientation ready for calculation - */ - uint8_t min_orientation_samples; - - /** - * Queue of newton_fit_orientation structs. - */ - struct queue *orientations; -}; - -#define NEWTON_FIT(SIZE, NSAMPLES, NEAR_THRES, NEW_PT_WEIGHT, ERROR_THRESHOLD, \ - MAX_ITERATIONS) \ - ((struct newton_fit){ \ - .nearness_threshold = NEAR_THRES, \ - .new_pt_weight = NEW_PT_WEIGHT, \ - .error_threshold = ERROR_THRESHOLD, \ - .max_orientations = SIZE, \ - .max_iterations = MAX_ITERATIONS, \ - .min_orientation_samples = NSAMPLES, \ - .orientations = (struct queue *)&QUEUE_NULL( \ - SIZE, struct newton_fit_orientation), \ - }) - -/** - * Reset the newton_fit struct's state. - * - * @param fit Pointer to the struct. - */ -void newton_fit_reset(struct newton_fit *fit); - -/** - * Add new vector to the struct. The behavior of this depends on the - * configuration values used when the struct was created. For example: - * - Samples that are within sqrt(NEAR_THRES) of an existing orientation will - * be averaged with the matching orientation entry. - * - If the new sample isn't near an existing orientation it will only be added - * if state->num_orientations < config->num_orientations. - * - * @param fit Pointer to the struct. - * @param x The new samples' X component. - * @param y The new samples' Y component. - * @param z The new samples' Z component. - * @return True if orientations are full and the struct is ready to compute the - * bias. - */ -bool newton_fit_accumulate(struct newton_fit *fit, fp_t x, fp_t y, fp_t z); - -/** - * Compute the center/bias and optionally the radius represented by the current - * struct. - * - * @param fit Pointer to the struct. - * @param bias Pointer to the output bias (this is also the starting bias for - * the algorithm. - * @param radius Optional pointer to write the computed radius into. If NULL, - * the calculation will be skipped. - */ -void newton_fit_compute(struct newton_fit *fit, fpv3_t bias, fp_t *radius); - -#endif /* __CROS_EC_NEWTON_FIT_H */ |