From f687a393411d0743213c5d4f56a2860796c8ec6f Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Wed, 25 Oct 2023 10:40:42 +0200
Subject: [PATCH] [SFD] respect naming guidelines and small const extraction
refactor
---
src/shared/algorithms/Filters/LowPass.h | 5 +----
src/shared/algorithms/SFD/SFDAscent.cpp | 8 ++++----
src/shared/algorithms/SFD/SFDAscent.h | 15 +++++++-------
src/shared/algorithms/SFD/SFDCommon.h | 26 ++++++++++++++++++++++++
src/shared/algorithms/SFD/SFDDescent.cpp | 4 ++--
src/shared/algorithms/SFD/SFDDescent.h | 15 +++++++-------
6 files changed, 49 insertions(+), 24 deletions(-)
create mode 100644 src/shared/algorithms/SFD/SFDCommon.h
diff --git a/src/shared/algorithms/Filters/LowPass.h b/src/shared/algorithms/Filters/LowPass.h
index 725c9bd13..49f5c2b7e 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 dfa644379..0ce072078 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 c714d5bae..0e3d99ce9 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 000000000..0ee8e7c72
--- /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 b58e59960..aad11791e 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 4df2ac03c..90a717bce 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);
--
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