m_filter_fifo.c File Reference

A fifo that also allows you to dynamically filter. More...

#include "util/u_misc.h"
#include "math/m_filter_fifo.h"
#include <assert.h>

Include dependency graph for m_filter_fifo.c:

Data Structures
struct	m_ff_vec3_f32

Functions
void	m_ff_vec3_f32_alloc (struct m_ff_vec3_f32 **ff_out, size_t num)
	Allocates a filter fifo tracking num samples and fills it with num samples at timepoint zero. More...
void	m_ff_vec3_f32_free (struct m_ff_vec3_f32 **ff_ptr)
	Frees the given filter fifo and all it's samples. More...
void	m_ff_vec3_f32_push (struct m_ff_vec3_f32 *ff, const struct xrt_vec3 *sample, uint64_t timestamp_ns)
	Pushes a sample at the given timepoint, pushing samples out of order yields unspecified behaviour, so samples must be pushed in time order. More...
void	m_ff_vec3_f32_get (struct m_ff_vec3_f32 *ff, size_t num, struct xrt_vec3 *out_sample, uint64_t *out_timestamp_ns)
	Return the sample at the index, zero means the last sample push, one second last and so on. More...
size_t	m_ff_vec3_f32_filter (struct m_ff_vec3_f32 *ff, uint64_t start_ns, uint64_t stop_ns, struct xrt_vec3 *out_average)
	Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets out_average to all zeros. More...

Detailed Description

A fifo that also allows you to dynamically filter.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

m_ff_vec3_f32_alloc()

void m_ff_vec3_f32_alloc	(	struct m_ff_vec3_f32 **	ff_out,
		size_t	num
	)

Allocates a filter fifo tracking num samples and fills it with num samples at timepoint zero.

References U_TYPED_CALLOC.

Referenced by m_imu_3dof_init().

m_ff_vec3_f32_filter()

size_t m_ff_vec3_f32_filter	(	struct m_ff_vec3_f32 *	ff,
		uint64_t	start_ns,
		uint64_t	stop_ns,
		struct xrt_vec3 *	out_average
	)

Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets out_average to all zeros.

Parameters

ff	Filter fifo to search in.
start_ns	Timepoint furthest in the past, to start searching for samples.
stop_ns	Timepoint closest in the past, or now, to stop searching for samples.
out_average	Average of all samples in the given timeframe.

References m_ff_vec3_f32::latest, m_ff_vec3_f32::num, m_ff_vec3_f32::samples, m_ff_vec3_f32::timestamps_ns, xrt_vec3::x, xrt_vec3::y, and xrt_vec3::z.

m_ff_vec3_f32_free()

void m_ff_vec3_f32_free

(

struct m_ff_vec3_f32 **

ff_ptr

)

Frees the given filter fifo and all it's samples.

Referenced by m_imu_3dof_close().

m_ff_vec3_f32_get()

void m_ff_vec3_f32_get	(	struct m_ff_vec3_f32 *	ff,
		size_t	num,
		struct xrt_vec3 *	out_sample,
		uint64_t *	out_timestamp_ns
	)

Return the sample at the index, zero means the last sample push, one second last and so on.

References m_ff_vec3_f32::latest, m_ff_vec3_f32::num, m_ff_vec3_f32::samples, and m_ff_vec3_f32::timestamps_ns.

m_ff_vec3_f32_push()

void m_ff_vec3_f32_push	(	struct m_ff_vec3_f32 *	ff,
		const struct xrt_vec3 *	sample,
		uint64_t	timestamp_ns
	)

Pushes a sample at the given timepoint, pushing samples out of order yields unspecified behaviour, so samples must be pushed in time order.

References m_ff_vec3_f32::latest, m_ff_vec3_f32::num, sample, m_ff_vec3_f32::samples, and m_ff_vec3_f32::timestamps_ns.

Referenced by m_imu_3dof_update().