1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
|
/* Copyright 2020 The ChromiumOS Authors
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*/
/* Kasa sphere fit algorithm */
#ifndef __CROS_EC_KASA_H
#define __CROS_EC_KASA_H
#include "vec3.h"
struct kasa_fit {
fp_t acc_x, acc_y, acc_z, acc_w;
fp_t acc_xx, acc_xy, acc_xz, acc_xw;
fp_t acc_yy, acc_yz, acc_yw;
fp_t acc_zz, acc_zw;
uint32_t nsamples;
};
/**
* Resets the kasa_fit data structure (sets all variables to zero).
*
* @param kasa Pointer to the struct that should be reset.
*/
void kasa_reset(struct kasa_fit *kasa);
/**
* Add a new sample to the kasa_fit structure.
*
* @param x The X component of the new sample.
* @param y The Y component of the new sample.
* @param z the Z component of the new sample.
*/
void kasa_accumulate(struct kasa_fit *kasa, fp_t x, fp_t y, fp_t z);
/**
* Compute the current center/radius from the kasa_fit structure.
*
* @param kasa Pointer to the struct that should be used for the calculation.
* @param bias Pointer to the start of a fp_t[3] to save the computed center.
* @param radius Pointer to a fp_t that will hold the computed radius.
*/
void kasa_compute(struct kasa_fit *kasa, fpv3_t bias, fp_t *radius);
#endif /* __CROS_EC_KASA_H */
|
