A fifo that also lets you dynamically filter. More...

#include "util/u_misc.h"
#include "math/m_filter_fifo.h"
#include <assert.h>

Include dependency graph for m_filter_fifo.c:

Data Structures
struct	m_ff_vec3_f32

struct	m_ff_f64

Functions
static void	vec3_f32_init (struct m_ff_vec3_f32 *ff, size_t num)

static void	vec3_f32_destroy (struct m_ff_vec3_f32 *ff)

void	m_ff_vec3_f32_alloc (struct m_ff_vec3_f32 **ff_out, size_t num)
	Allocates a filter fifo tracking `num` samples and fills it with `num` samples at timepoint zero. More...

void	m_ff_vec3_f32_free (struct m_ff_vec3_f32 **ff_ptr)
	Frees the given filter fifo and all its samples. More...

size_t	m_ff_vec3_f32_get_num (struct m_ff_vec3_f32 *ff)
	Return the number of samples that can fill the fifo. More...

void	m_ff_vec3_f32_push (struct m_ff_vec3_f32 ff, const struct xrt_vec3 sample, uint64_t timestamp_ns)
	Pushes a sample at the given timepoint, pushing samples out of order yields unspecified behaviour, so samples must be pushed in time order. More...

bool	m_ff_vec3_f32_get (struct m_ff_vec3_f32 ff, size_t num, struct xrt_vec3 out_sample, uint64_t *out_timestamp_ns)
	Return the sample at the index, zero means the last sample push, one second last and so on. More...

size_t	m_ff_vec3_f32_filter (struct m_ff_vec3_f32 ff, uint64_t start_ns, uint64_t stop_ns, struct xrt_vec3 out_average)
	Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets `out_average` to all zeros. More...

static void	ff_f64_init (struct m_ff_f64 *ff, size_t num)

static void	ff_f64_destroy (struct m_ff_f64 *ff)

void	m_ff_f64_alloc (struct m_ff_f64 **ff_out, size_t num)
	Allocates a filter fifo tracking `num` samples and fills it with `num` samples at timepoint zero. More...

void	m_ff_f64_free (struct m_ff_f64 **ff_ptr)
	Frees the given filter fifo and all its samples. More...

size_t	m_ff_f64_get_num (struct m_ff_f64 *ff)
	Return the number of samples that can fill the fifo. More...

void	m_ff_f64_push (struct m_ff_f64 ff, const double sample, uint64_t timestamp_ns)
	Pushes a sample at the given timepoint, pushing samples out of order yields unspecified behaviour, so samples must be pushed in time order. More...

bool	m_ff_f64_get (struct m_ff_f64 ff, size_t num, double out_sample, uint64_t *out_timestamp_ns)
	Return the sample at the index, 0 means the last sample push, 1 second-to-last, etc. More...

size_t	m_ff_f64_filter (struct m_ff_f64 ff, uint64_t start_ns, uint64_t stop_ns, double out_average)
	Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets `out_average` to all zeros. More...

Detailed Description

A fifo that also lets you dynamically filter.

Author: Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

◆ m_ff_f64_alloc()

void m_ff_f64_alloc	(	struct m_ff_f64 **	ff_out,
		size_t	num
	)

Allocates a filter fifo tracking num samples and fills it with num samples at timepoint zero.

References U_TYPED_CALLOC.

◆ m_ff_f64_filter()

size_t m_ff_f64_filter	(	struct m_ff_f64 *	ff,
		uint64_t	start_ns,
		uint64_t	stop_ns,
		double *	out_average
	)

Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets out_average to all zeros.

Parameters

ff	Filter fifo to search in.
start_ns	Timepoint furthest in the past, to start searching for samples.
stop_ns	Timepoint closest in the past, or now, to stop searching for samples.
out_average	Average of all samples in the given timeframe.

◆ m_ff_f64_free()

void m_ff_f64_free ( struct m_ff_f64 ** ff_ptr )

Frees the given filter fifo and all its samples.

◆ m_ff_f64_get()

bool m_ff_f64_get	(	struct m_ff_f64 *	ff,
		size_t	num,
		double *	out_sample,
		uint64_t *	out_timestamp_ns
	)

Return the sample at the index, 0 means the last sample push, 1 second-to-last, etc.

◆ m_ff_f64_get_num()

size_t m_ff_f64_get_num ( struct m_ff_f64 * ff )

Return the number of samples that can fill the fifo.

◆ m_ff_f64_push()

void m_ff_f64_push	(	struct m_ff_f64 *	ff,
		const double *	sample,
		uint64_t	timestamp_ns
	)

Pushes a sample at the given timepoint, pushing samples out of order yields unspecified behaviour, so samples must be pushed in time order.

◆ m_ff_vec3_f32_alloc()

void m_ff_vec3_f32_alloc	(	struct m_ff_vec3_f32 **	ff_out,
		size_t	num
	)

Allocates a filter fifo tracking num samples and fills it with num samples at timepoint zero.

References U_TYPED_CALLOC.

◆ m_ff_vec3_f32_filter()

size_t m_ff_vec3_f32_filter	(	struct m_ff_vec3_f32 *	ff,
		uint64_t	start_ns,
		uint64_t	stop_ns,
		struct xrt_vec3 *	out_average
	)

Averages all samples in the fifo between the two timepoints, returns number of samples sampled, if no samples was found between the timpoints returns 0 and sets out_average to all zeros.

Parameters

ff	Filter fifo to search in.
start_ns	Timepoint furthest in the past, to start searching for samples.
stop_ns	Timepoint closest in the past, or now, to stop searching for samples.
out_average	Average of all samples in the given timeframe.

◆ m_ff_vec3_f32_free()

void m_ff_vec3_f32_free ( struct m_ff_vec3_f32 ** ff_ptr )

Frees the given filter fifo and all its samples.

◆ m_ff_vec3_f32_get()

bool m_ff_vec3_f32_get	(	struct m_ff_vec3_f32 *	ff,
		size_t	num,
		struct xrt_vec3 *	out_sample,
		uint64_t *	out_timestamp_ns
	)

Return the sample at the index, zero means the last sample push, one second last and so on.

Referenced by xrt::auxiliary::tracking::slam::predict_pose_from_imu().

◆ m_ff_vec3_f32_get_num()

size_t m_ff_vec3_f32_get_num ( struct m_ff_vec3_f32 * ff )