init
This commit is contained in:
42
unitree_SDK/include/dds/ddsi/q_lat_estim.h
Normal file
42
unitree_SDK/include/dds/ddsi/q_lat_estim.h
Normal file
@@ -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 */
|
Reference in New Issue
Block a user