Diff: DQMapper/DQMapper.h

Revision:

171:3f1d1792757c

Parent:

160:6948bb7bcabd

Child:

185:5c102874b490

--- a/DQMapper/DQMapper.h	Sat Dec 02 19:24:56 2017 +0000
+++ b/DQMapper/DQMapper.h	Sun Dec 03 01:28:51 2017 +0000
@@ -1,6 +1,8 @@
 #ifndef __DQ_MAPPER_H
 #define __DQ_MAPPER_H
 
+#include "config_table.h"
+
 class DQMapper {
 public:
     virtual void map(float torque_percent, float w, float *d, float *q) = 0;
@@ -30,6 +32,16 @@
     virtual void map(float torque_percent, float w, float *d, float *q);
 };
 
+class InterpolatingLutMapper : public DQMapper {
+public:
+    virtual void map(float torque_percent, float w, float *d, float *q);
+private:
+    static float lookup(short table[][COLUMNS], int row, int col);
+    static float lookup(short *table, int index);
+    static float interp(float a, float b, float eps);
+    static float interp(float a, float b, float c, float eps_row, float eps_col);
+};
+
 class AngleMapper : public DQMapper {
 public:
     AngleMapper(float theta, float is) {_theta = theta; _is = is;}