tap::algorithms::LinearInterpolationPredictor Class Reference

#include <linear_interpolation_predictor.hpp>

Public Member Functions
	LinearInterpolationPredictor ()
void	update (float newValue, uint32_t currTime)
float	getInterpolatedValue (uint32_t currTime)
void	reset (float initialValue, uint32_t initialTime)

Detailed Description

A class that allows you to linearly interpolate discrete measurements. Useful for increasing the resolution of data measurements. For example, if you receive input data at 10 ms intervals and are running a controller ever 1 ms, you can use this class so that the data you receive won't be in 10 ms steps, but rather will interpolate using past data to predict the data until new data is received.

Usecase example, pseudocode:

LinearInterpolationPredictor li;
while (true) {
    if (new value received) {
        li.update(value);
    }
    runcontroller(li.getInterpolated(tap::arch::clock::getTimeMilliseconds()));
}

Constructor & Destructor Documentation

LinearInterpolationPredictor()

tap::algorithms::LinearInterpolationPredictor::LinearInterpolationPredictor

(

)

Member Function Documentation

getInterpolatedValue()

float tap::algorithms::LinearInterpolationPredictor::getInterpolatedValue ( uint32_t  currTime )

inline

Returns the current value, that is: in the equation in the units of whatever value you are inputting in the update function.

Note

Slope is defined by the previous two values passed into the update function, a period preceeding lastUpdateCallTime.

use a millisecond-resolution timer, e.g. tap::arch::clock::getTimeMilliseconds()

Parameters

[in]

currTime

the current clock time, in ms.

Returns

the interpolated value.

reset()

void tap::algorithms::LinearInterpolationPredictor::reset	(	float	initialValue,
		uint32_t	initialTime
	)

Resets the predictor. The slope will be reset to 0 and the initial values and time will be used to initialize the predictor.

Note

It is highly recommended that you call this function before calling update to "initialize" the system.

Parameters

[in]	initialValue	The value to set the previous value to when resetting.
[in]	initialTime	The value to set the previous time to when resetting.

update()

void tap::algorithms::LinearInterpolationPredictor::update	(	float	newValue,
		uint32_t	currTime
	)

Updates the interpolation using the newValue.

Note

only call this when you receive a new value (use remote rx counter to tell when there is new data from the remote, for example).

This function should be called with increasing values of currTime.

Parameters

[in]	newValue	the new data used in the interpolation.
[in]	currTime	The time that this function was called.

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The documentation for this class was generated from the following files:

• fang-mcb-project/taproot/src/tap/algorithms/linear_interpolation_predictor.hpp
• fang-mcb-project/taproot/src/tap/algorithms/linear_interpolation_predictor.cpp