diff options
Diffstat (limited to 'src/ipa/raspberrypi/controller/pwl.hpp')
| -rw-r--r-- | src/ipa/raspberrypi/controller/pwl.hpp | 60 |
1 files changed, 36 insertions, 24 deletions
diff --git a/src/ipa/raspberrypi/controller/pwl.hpp b/src/ipa/raspberrypi/controller/pwl.hpp index 4a38d1df..e409c966 100644 --- a/src/ipa/raspberrypi/controller/pwl.hpp +++ b/src/ipa/raspberrypi/controller/pwl.hpp @@ -63,44 +63,56 @@ public: Interval domain() const; Interval range() const; bool empty() const; - // Evaluate Pwl, optionally supplying an initial guess for the - // "span". The "span" may be optionally be updated. If you want to know - // the "span" value but don't have an initial guess you can set it to - // -1. + /* + * Evaluate Pwl, optionally supplying an initial guess for the + * "span". The "span" may be optionally be updated. If you want to know + * the "span" value but don't have an initial guess you can set it to + * -1. + */ double eval(double x, int *spanPtr = nullptr, bool updateSpan = true) const; - // Find perpendicular closest to xy, starting from span+1 so you can - // call it repeatedly to check for multiple closest points (set span to - // -1 on the first call). Also returns "pseudo" perpendiculars; see - // PerpType enum. + /* + * Find perpendicular closest to xy, starting from span+1 so you can + * call it repeatedly to check for multiple closest points (set span to + * -1 on the first call). Also returns "pseudo" perpendiculars; see + * PerpType enum. + */ enum class PerpType { - None, // no perpendicular found - Start, // start of Pwl is closest point - End, // end of Pwl is closest point - Vertex, // vertex of Pwl is closest point - Perpendicular // true perpendicular found + None, /* no perpendicular found */ + Start, /* start of Pwl is closest point */ + End, /* end of Pwl is closest point */ + Vertex, /* vertex of Pwl is closest point */ + Perpendicular /* true perpendicular found */ }; PerpType invert(Point const &xy, Point &perp, int &span, const double eps = 1e-6) const; - // Compute the inverse function. Indicate if it is a proper (true) - // inverse, or only a best effort (e.g. input was non-monotonic). + /* + * Compute the inverse function. Indicate if it is a proper (true) + * inverse, or only a best effort (e.g. input was non-monotonic). + */ Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; - // Compose two Pwls together, doing "this" first and "other" after. + /* Compose two Pwls together, doing "this" first and "other" after. */ Pwl compose(Pwl const &other, const double eps = 1e-6) const; - // Apply function to (x,y) values at every control point. + /* Apply function to (x,y) values at every control point. */ void map(std::function<void(double x, double y)> f) const; - // Apply function to (x, y0, y1) values wherever either Pwl has a - // control point. + /* + * Apply function to (x, y0, y1) values wherever either Pwl has a + * control point. + */ static void map2(Pwl const &pwl0, Pwl const &pwl1, std::function<void(double x, double y0, double y1)> f); - // Combine two Pwls, meaning we create a new Pwl where the y values are - // given by running f wherever either has a knot. + /* + * Combine two Pwls, meaning we create a new Pwl where the y values are + * given by running f wherever either has a knot. + */ static Pwl combine(Pwl const &pwl0, Pwl const &pwl1, std::function<double(double x, double y0, double y1)> f, const double eps = 1e-6); - // Make "this" match (at least) the given domain. Any extension my be - // clipped or linear. + /* + * Make "this" match (at least) the given domain. Any extension my be + * clipped or linear. + */ void matchDomain(Interval const &domain, bool clip = true, const double eps = 1e-6); Pwl &operator*=(double d); @@ -111,4 +123,4 @@ private: std::vector<Point> points_; }; -} // namespace RPiController +} /* namespace RPiController */ |