Thomas Lew
/
FreeFlyerROS
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Dependencies: mbed ros_lib_kinetic
utilities.cpp@0:dd126a1080d3, 2017-02-14 (annotated)
- Committer:
- Knillinux
- Date:
- Tue Feb 14 05:12:54 2017 +0000
- Revision:
- 0:dd126a1080d3
- Child:
- 1:40bdbe1a93b7
test
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Knillinux | 0:dd126a1080d3 | 1 | |
| Knillinux | 0:dd126a1080d3 | 2 | #include "utilities.h" |
| Knillinux | 0:dd126a1080d3 | 3 | #include "mbed.h" |
| Knillinux | 0:dd126a1080d3 | 4 | |
| Knillinux | 0:dd126a1080d3 | 5 | namespace utils { |
| Knillinux | 0:dd126a1080d3 | 6 | |
| Knillinux | 0:dd126a1080d3 | 7 | float smooth(float data, float filterVal, float smoothedVal) { |
| Knillinux | 0:dd126a1080d3 | 8 | |
| Knillinux | 0:dd126a1080d3 | 9 | if (filterVal > 1) { // check to make sure param's are within range |
| Knillinux | 0:dd126a1080d3 | 10 | filterVal = .99; |
| Knillinux | 0:dd126a1080d3 | 11 | } else if (filterVal <= 0) { |
| Knillinux | 0:dd126a1080d3 | 12 | filterVal = 0; |
| Knillinux | 0:dd126a1080d3 | 13 | } |
| Knillinux | 0:dd126a1080d3 | 14 | |
| Knillinux | 0:dd126a1080d3 | 15 | smoothedVal = (data * (1 - filterVal)) + (smoothedVal * filterVal); |
| Knillinux | 0:dd126a1080d3 | 16 | |
| Knillinux | 0:dd126a1080d3 | 17 | return (float)smoothedVal; |
| Knillinux | 0:dd126a1080d3 | 18 | } |
| Knillinux | 0:dd126a1080d3 | 19 | |
| Knillinux | 0:dd126a1080d3 | 20 | } // end utils namespace |