From 33317e79489848ae537ac78b9c9e70372857aee8 Mon Sep 17 00:00:00 2001 From: Jacob Palecki Date: Wed, 29 Jul 2020 00:35:39 -0700 Subject: Separate accel implementations into files --- common/accel_sigmoid.cpp | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 common/accel_sigmoid.cpp (limited to 'common/accel_sigmoid.cpp') diff --git a/common/accel_sigmoid.cpp b/common/accel_sigmoid.cpp new file mode 100644 index 0000000..c5280bc --- /dev/null +++ b/common/accel_sigmoid.cpp @@ -0,0 +1,21 @@ +#pragma once + +#define _USE_MATH_DEFINES +#include + +#include "accel_types.hpp" + +namespace rawaccel { + accel_sigmoid::accel_sigmoid(accel_args args) + : accel_implentation(args) {} + + double accel_sigmoid::accelerate(double speed) { + //f(x) = k/(1+e^(-m(c-x))) + return curve_constant_two / (exp(-curve_constant_one * (speed - curve_constant_three)) + 1); + } + + void accel_sigmoid::verify(accel_args args) { + accel_implentation::verify(args); + if (args.lim_exp <= 1) error("exponent must be greater than 1"); + } +} -- cgit v1.2.3 From 7963edee802d5a7b51f1867a5133857c403c8ef6 Mon Sep 17 00:00:00 2001 From: Jacob Palecki Date: Wed, 29 Jul 2020 01:10:29 -0700 Subject: Inline methods for linking, and fix sens application bug --- common/accel_sigmoid.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'common/accel_sigmoid.cpp') diff --git a/common/accel_sigmoid.cpp b/common/accel_sigmoid.cpp index c5280bc..d3b8ab7 100644 --- a/common/accel_sigmoid.cpp +++ b/common/accel_sigmoid.cpp @@ -6,15 +6,15 @@ #include "accel_types.hpp" namespace rawaccel { - accel_sigmoid::accel_sigmoid(accel_args args) + inline accel_sigmoid::accel_sigmoid(accel_args args) : accel_implentation(args) {} - double accel_sigmoid::accelerate(double speed) { + inline double accel_sigmoid::accelerate(double speed) { //f(x) = k/(1+e^(-m(c-x))) return curve_constant_two / (exp(-curve_constant_one * (speed - curve_constant_three)) + 1); } - void accel_sigmoid::verify(accel_args args) { + inline void accel_sigmoid::verify(accel_args args) { accel_implentation::verify(args); if (args.lim_exp <= 1) error("exponent must be greater than 1"); } -- cgit v1.2.3