float/clarke.h

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#ifndef _CLARKE_H_
#define _CLARKE_H_



// **************************************************************************
// the includes

// modules
#include "sw/modules/math/src/float/math.h"




// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h


#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines



// **************************************************************************
// the typedefs

typedef struct _CLARKE_Obj_
{
  float_t        alpha_sf;              
  float_t        beta_sf;               

  uint_least8_t  numSensors;            

} CLARKE_Obj;


typedef struct _CLARKE_Obj_ *CLARKE_Handle;


// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

static inline uint_least8_t CLARKE_getNumSensors(CLARKE_Handle handle)
{
  CLARKE_Obj *obj = (CLARKE_Obj *)handle;

  return(obj->numSensors);
} // end of CLARKE_getNumSensors() function


extern CLARKE_Handle CLARKE_init(void *pMemory,const size_t numBytes);


static inline void CLARKE_run(CLARKE_Handle handle,const MATH_vec3 *pInVec,MATH_vec2 *pOutVec)
{
  CLARKE_Obj *obj = (CLARKE_Obj *)handle;

  uint_least8_t numSensors = obj->numSensors;

  float_t alpha_sf = obj->alpha_sf;
  float_t beta_sf = obj->beta_sf;


  if(numSensors == 3)
    {
      pOutVec->value[0] = ( (pInVec->value[0] * (float_t)2.0) - (pInVec->value[1] + pInVec->value[2]) ) * alpha_sf;
      pOutVec->value[1] = (pInVec->value[1] - pInVec->value[2]) * beta_sf;
    }

  else if(numSensors == 2)
    {
      pOutVec->value[0] = pInVec->value[0] * alpha_sf;
      pOutVec->value[1] = (pInVec->value[0] + (pInVec->value[1] * (float_t)2.0)) * beta_sf;
    }
  else
    {
      // assign value 0 if all conditions fail
      pOutVec->value[0] = (float_t)0;
      pOutVec->value[1] = (float_t)0;
    }

  return;
} // end of CLARKE_run() function


static inline void CLARKE_run_twoInput(CLARKE_Handle handle,const MATH_vec2 *pInVec,MATH_vec2 *pOutVec)
{
  CLARKE_Obj *obj = (CLARKE_Obj *)handle;

  float_t beta_sf = obj->beta_sf;


  pOutVec->value[0] = pInVec->value[0];

  pOutVec->value[1] = (pInVec->value[0] + (pInVec->value[1] * (float_t)2.0)) * beta_sf;

  return;
} // end of CLARKE_run_twoInput() function


static inline void CLARKE_setNumSensors(CLARKE_Handle handle,const uint_least8_t numSensors)
{
  CLARKE_Obj *obj = (CLARKE_Obj *)handle;

  obj->numSensors = numSensors;

  return;
} // end of CLARKE_setNumSensors() function


static inline void CLARKE_setScaleFactors(CLARKE_Handle handle,const float_t alpha_sf,const float_t beta_sf)
{
  CLARKE_Obj *obj = (CLARKE_Obj *)handle;


  obj->alpha_sf = alpha_sf;
  obj->beta_sf = beta_sf;

  return;
} // end of CLARKE_setScaleFactors() function


#ifdef __cplusplus
}
#endif // extern "C"

#endif // end of _CLARKE_H_ definition