Initial commit - test serial

SerialTest/include/okapi/squiggles/math/quinticpolynomial.hpp

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+/**
+ * Copyright 2020 Jonathan Bayless
+ *
+ * Use of this source code is governed by an MIT-style license that can be found
+ * in the LICENSE file or at https://opensource.org/licenses/MIT.
+ */
+#ifndef _MATH_QUINTIC_POLYNOMIAL_HPP_
+#define _MATH_QUINTIC_POLYNOMIAL_HPP_
+
+#include <string>
+
+namespace squiggles {
+class QuinticPolynomial {
+  public:
+  /**
+   * Defines the polynomial function for a spline in one dimension.
+   *
+   * @param s_p The starting position of the curve in meters.
+   * @param s_v The starting velocity of the curve in meters per second.
+   * @param s_a The starting acceleration of the curve in meters per second per
+   *            second.
+   * @param g_p The goal or ending position of the curve in meters.
+   * @param g_v The goal or ending velocity of the curve in meters per second.
+   * @param g_a The goal or ending acceleration of the curve in meters per
+   *            second per second.
+   * @param t The desired duration for the curve in seconds.
+   */
+  QuinticPolynomial(double s_p,
+                    double s_v,
+                    double s_a,
+                    double g_p,
+                    double g_v,
+                    double g_a,
+                    double t);
+
+  /**
+   * Calculates the values of the polynomial and its derivatives at the given
+   * time stamp.
+   */
+  double calc_point(double t);
+  double calc_first_derivative(double t);
+  double calc_second_derivative(double t);
+  double calc_third_derivative(double t);
+
+  /**
+   * Serializes the Quintic Polynomial data for debugging.
+   *
+   * @return The Quintic Polynomial data.
+   */
+  std::string to_string() const {
+    return "QuinticPolynomial: {0: " + std::to_string(a0) +
+           " 1: " + std::to_string(a1) + " 2: " + std::to_string(a2) +
+           " 3: " + std::to_string(a3) + " 4: " + std::to_string(a4) +
+           " 5: " + std::to_string(a5) + "}";
+  }
+
+  protected:
+  /**
+   * The coefficients for each term of the polynomial.
+   */
+  double a0, a1, a2, a3, a4, a5;
+};
+} // namespace squiggles
+
+#endif

SerialTest/include/okapi/squiggles/math/utils.hpp

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+/**
+ * Copyright 2020 Jonathan Bayless
+ *
+ * Use of this source code is governed by an MIT-style license that can be found
+ * in the LICENSE file or at https://opensource.org/licenses/MIT.
+ */
+#ifndef _MATH_UTILS_HPP_
+#define _MATH_UTILS_HPP_
+
+#include <cmath>
+#include <iostream>
+
+namespace squiggles {
+/**
+ * Returns the sign value of the given value.
+ *
+ * @return 1 if the value is positive, -1 if the value is negative, and 0 if
+ *         the value is 0.
+ */
+template <class T> inline int sgn(T v) {
+  return (v > T(0)) - (v < T(0));
+}
+
+inline bool
+nearly_equal(const double& a, const double& b, double epsilon = 1e-5) {
+  return std::fabs(a - b) < epsilon;
+}
+} // namespace squiggles
+
+namespace std {
+// Copied from https://github.com/emsr/cxx_linear
+template <typename _Float>
+constexpr std::enable_if_t<
+  std::is_floating_point_v<_Float> &&
+    __cplusplus <= 201703L, // Only defines this function if C++ standard < 20
+  _Float>
+lerp(_Float __a, _Float __b, _Float __t) {
+  if (std::isnan(__a) || std::isnan(__b) || std::isnan(__t))
+    return std::numeric_limits<_Float>::quiet_NaN();
+  else if ((__a <= _Float{0} && __b >= _Float{0}) ||
+           (__a >= _Float{0} && __b <= _Float{0}))
+  // ab <= 0 but product could overflow.
+#ifndef FMA
+    return __t * __b + (_Float{1} - __t) * __a;
+#else
+    return std::fma(__t, __b, (_Float{1} - __t) * __a);
+#endif
+  else if (__t == _Float{1})
+    return __b;
+  else { // monotonic near t == 1.
+#ifndef FMA
+    const auto __x = __a + __t * (__b - __a);
+#else
+    const auto __x = std::fma(__t, __b - __a, __a);
+#endif
+    return (__t > _Float{1}) == (__b > __a) ? std::max(__b, __x)
+                                            : std::min(__b, __x);
+  }
+}
+} // namespace std
+#endif