init

unitree_SDK/include/dds/ddsi/q_lat_estim.h

@@ -0,0 +1,42 @@
+/*
+ * Copyright(c) 2006 to 2019 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef NN_LAT_ESTIM_H
+#define NN_LAT_ESTIM_H
+
+#include "dds/ddsi/q_log.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+#define NN_LAT_ESTIM_MEDIAN_WINSZ 7
+
+struct nn_lat_estim {
+  /* median filtering with a small window in an attempt to remove the
+     worst outliers */
+  int index;
+  float window[NN_LAT_ESTIM_MEDIAN_WINSZ];
+  /* simple alpha filtering for smoothing */
+  float smoothed;
+};
+
+void nn_lat_estim_init (struct nn_lat_estim *le);
+void nn_lat_estim_fini (struct nn_lat_estim *le);
+void nn_lat_estim_update (struct nn_lat_estim *le, int64_t est);
+double nn_lat_estim_current (const struct nn_lat_estim *le);
+int nn_lat_estim_log (uint32_t logcat, const struct ddsrt_log_cfg *logcfg, const char *tag, const struct nn_lat_estim *le);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* NN_LAT_ESTIM_H */