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[wpiutil] Improve wpi::circular_buffer iterators (#3410)

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The implementation of wpi::circular_buffer has been effectively replaced
with a dynamically sized copy of wpi::static_circular_buffer with a
resize() member function.
This commit is contained in:
Tyler Veness
2021-06-05 21:08:12 -07:00
committed by GitHub
parent 8aecda03ed
commit 82856cf816
8 changed files with 393 additions and 297 deletions
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32
wpimath/src/main/native/include/frc/LinearFilter.h
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@@ -4,9 +4,10 @@
#pragma once
#include <cassert>
#include <algorithm>
#include <cmath>
#include <initializer_list>
#include <stdexcept>
#include <vector>
#include <wpi/ArrayRef.h>
@@ -81,6 +82,13 @@ class LinearFilter {
m_outputs(fbGains.size()),
m_inputGains(ffGains),
m_outputGains(fbGains) {
for (size_t i = 0; i < ffGains.size(); ++i) {
m_inputs.emplace_front(0.0);
}
for (size_t i = 0; i < fbGains.size(); ++i) {
m_outputs.emplace_front(0.0);
}
static int instances = 0;
instances++;
wpi::math::MathSharedStore::ReportUsage(
@@ -148,7 +156,9 @@ class LinearFilter {
* slower
*/
static LinearFilter<T> MovingAverage(int taps) {
assert(taps > 0);
if (taps <= 0) {
throw std::runtime_error("Number of taps must be greater than zero.");
}
std::vector<double> gains(taps, 1.0 / taps);
return LinearFilter(gains, {});
@@ -158,8 +168,8 @@ class LinearFilter {
* Reset the filter state.
*/
void Reset() {
m_inputs.reset();
m_outputs.reset();
std::fill(m_inputs.begin(), m_inputs.end(), T{0.0});
std::fill(m_outputs.begin(), m_outputs.end(), T{0.0});
}
/**
@@ -170,21 +180,25 @@ class LinearFilter {
* @return The filtered value at this step
*/
T Calculate(T input) {
T retVal = T(0.0);
T retVal{0.0};
// Rotate the inputs
m_inputs.push_front(input);
if (m_inputGains.size() > 0) {
m_inputs.push_front(input);
}
// Calculate the new value
for (size_t i = 0; i < m_inputGains.size(); i++) {
for (size_t i = 0; i < m_inputGains.size(); ++i) {
retVal += m_inputs[i] * m_inputGains[i];
}
for (size_t i = 0; i < m_outputGains.size(); i++) {
for (size_t i = 0; i < m_outputGains.size(); ++i) {
retVal -= m_outputs[i] * m_outputGains[i];
}
// Rotate the outputs
m_outputs.push_front(retVal);
if (m_outputGains.size() > 0) {
m_outputs.push_front(retVal);
}
return retVal;
}