diff --git a/src/shared/algorithms/Filters/LowPass.h b/src/shared/algorithms/Filters/LowPass.h
index 725c9bd1389f14d18748b907832abeecd0c4e81b..49f5c2b7e5fa5c5218b012ebd755ad9db72ced0a 100644
--- a/src/shared/algorithms/Filters/LowPass.h
+++ b/src/shared/algorithms/Filters/LowPass.h
@@ -48,10 +48,7 @@ public:
float filter(float input);
private:
- float cutoffFreq;
- float lambda;
- float gain;
- float output;
+ float gain, cutoffFreq, lambda, output;
};
} // namespace Boardcore
diff --git a/src/shared/algorithms/SFD/SFDAscent.cpp b/src/shared/algorithms/SFD/SFDAscent.cpp
index dfa644379bece21ca24cd86dba05ddef41470f9b..0ce072078faa528dc987efcd807d009e168a68a4 100644
--- a/src/shared/algorithms/SFD/SFDAscent.cpp
+++ b/src/shared/algorithms/SFD/SFDAscent.cpp
@@ -29,7 +29,7 @@
namespace Boardcore
{
-SFDAscent::SFDAscent(const SFDAConfig& config) : svm(config.modelParameters) {}
+SFDAscent::SFDAscent(const SFDAscentConfig& config) : svm(config.modelParameters) {}
SFDAscent::FeaturesVec SFDAscent::getFeatures(const VectorIn& input)
{
@@ -41,17 +41,17 @@ SFDAscent::FeaturesVec SFDAscent::getFeatures(const VectorIn& input)
min = input.minCoeff();
max = input.maxCoeff();
delta = max - min;
- for (int i = 0; i < lenChunk; i++)
+ for (int i = 0; i < LEN_CHUNK; i++)
data(i) = (input(i) - min) / (std::max(delta, 1e-25f) * 2) - 1;
u = data.mean();
x0 = data - u * VectorIn::Ones();
- var = x0.squaredNorm() / lenChunk;
+ var = x0.squaredNorm() / LEN_CHUNK;
s2 = x0.array().pow(2).mean();
m4 = x0.array().pow(4).mean();
rfourier = FFT32::fft(data).real(); // TODO: fix complex -> float
rfmean = rfourier.mean();
- rfvar = (rfourier - rfmean * VectorIn::Ones()).squaredNorm() / lenChunk;
+ rfvar = (rfourier - rfmean * VectorIn::Ones()).squaredNorm() / LEN_CHUNK;
features(0) = delta;
features(1) = var;
diff --git a/src/shared/algorithms/SFD/SFDAscent.h b/src/shared/algorithms/SFD/SFDAscent.h
index c714d5bae0ef7d064e4cdd79974436a8f74c58c4..0e3d99ce90d952a509f1753673504d0bda48132b 100644
--- a/src/shared/algorithms/SFD/SFDAscent.h
+++ b/src/shared/algorithms/SFD/SFDAscent.h
@@ -28,25 +28,26 @@
#include <Eigen/Core>
+#include "SFDCommon.h"
+
namespace Boardcore
{
class SFDAscent
{
public:
- static constexpr int numFeatures = 6;
- static constexpr int lenChunk = 32;
+ static constexpr int NUM_FEATURES = 6;
- using SVMn = SVM<numFeatures>;
- using FeaturesVec = Eigen::Vector<float, numFeatures>;
- using VectorIn = Eigen::Vector<float, lenChunk>;
+ using SVMn = SVM<NUM_FEATURES>;
+ using FeaturesVec = Eigen::Vector<float, NUM_FEATURES>;
+ using VectorIn = Eigen::Vector<float, LEN_CHUNK>;
- struct SFDAConfig
+ struct SFDAscentConfig
{
SVMn::SVMConfig modelParameters;
};
- explicit SFDAscent(const SFDAConfig& config);
+ explicit SFDAscent(const SFDAscentConfig& config);
bool classify(const VectorIn& input);
diff --git a/src/shared/algorithms/SFD/SFDCommon.h b/src/shared/algorithms/SFD/SFDCommon.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ee8e7c7260340f78a37d4ca07a7d25e6580ca31
--- /dev/null
+++ b/src/shared/algorithms/SFD/SFDCommon.h
@@ -0,0 +1,26 @@
+
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+static constexpr int LEN_CHUNK = 32;
diff --git a/src/shared/algorithms/SFD/SFDDescent.cpp b/src/shared/algorithms/SFD/SFDDescent.cpp
index b58e59960572d75a30b3b4f5ac3d43f3ff8fc568..aad11791ecba9136e5d0e4bae284cb2830301083 100644
--- a/src/shared/algorithms/SFD/SFDDescent.cpp
+++ b/src/shared/algorithms/SFD/SFDDescent.cpp
@@ -27,7 +27,7 @@
namespace Boardcore
{
-SFDDescent::SFDDescent(const SFDDConfig& config) : svm(config.modelParameters)
+SFDDescent::SFDDescent(const SFDDescentConfig& config) : svm(config.modelParameters)
{
}
@@ -41,7 +41,7 @@ SFDDescent::FeaturesVec SFDDescent::getFeatures(const VectorIn& input)
min = input.minCoeff();
max = input.maxCoeff();
delta = max - min;
- for (int i = 0; i < lenChunk; i++)
+ for (int i = 0; i < LEN_CHUNK; i++)
data(i) = (input(i) - min) / (std::max(delta, 1e-25f) * 2) - 1;
u = data.mean();
x0 = data - u * VectorIn::Ones();
diff --git a/src/shared/algorithms/SFD/SFDDescent.h b/src/shared/algorithms/SFD/SFDDescent.h
index 4df2ac03c59be22d3ec04a4d945ed379746935a5..90a717bce35233fd72d29d2d3dc3d3fa1837a3eb 100644
--- a/src/shared/algorithms/SFD/SFDDescent.h
+++ b/src/shared/algorithms/SFD/SFDDescent.h
@@ -28,25 +28,26 @@
#include <Eigen/Core>
+#include "SFDCommon.h"
+
namespace Boardcore
{
class SFDDescent
{
public:
- static constexpr int numFeatures = 5;
- static constexpr int lenChunk = 32;
+ static constexpr int NUM_FEATURES = 5;
- using SVMn = SVM<numFeatures>;
- using FeaturesVec = Eigen::Vector<float, numFeatures>;
- using VectorIn = Eigen::Vector<float, lenChunk>;
+ using SVMn = SVM<NUM_FEATURES>;
+ using FeaturesVec = Eigen::Vector<float, NUM_FEATURES>;
+ using VectorIn = Eigen::Vector<float, LEN_CHUNK>;
- struct SFDDConfig
+ struct SFDDescentConfig
{
SVMn::SVMConfig modelParameters;
};
- explicit SFDDescent(const SFDDConfig& config);
+ explicit SFDDescent(const SFDDescentConfig& config);
bool classify(const VectorIn& input);